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DE102007012164A1 - Quad, has transverse acceleration sensors and wheel speed sensors connected with evaluating unit for determining tilting danger using sensor signals, where evaluating unit controls wheel brakes of quad with determined tilting danger - Google Patents

Quad, has transverse acceleration sensors and wheel speed sensors connected with evaluating unit for determining tilting danger using sensor signals, where evaluating unit controls wheel brakes of quad with determined tilting danger Download PDF

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Publication number
DE102007012164A1
DE102007012164A1 DE102007012164A DE102007012164A DE102007012164A1 DE 102007012164 A1 DE102007012164 A1 DE 102007012164A1 DE 102007012164 A DE102007012164 A DE 102007012164A DE 102007012164 A DE102007012164 A DE 102007012164A DE 102007012164 A1 DE102007012164 A1 DE 102007012164A1
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DE
Germany
Prior art keywords
quad
wheel
evaluating unit
sensors
danger
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
DE102007012164A
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German (de)
Inventor
Ralph Gronau
Artur Kost
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Continental Teves AG and Co OHG
Original Assignee
Continental Teves AG and Co OHG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Continental Teves AG and Co OHG filed Critical Continental Teves AG and Co OHG
Priority to DE102007012164A priority Critical patent/DE102007012164A1/en
Publication of DE102007012164A1 publication Critical patent/DE102007012164A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17554—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for enhancing stability around the vehicles longitudinal axle, i.e. roll-over prevention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2300/00—Indexing codes relating to the type of vehicle
    • B60G2300/07—Off-road vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/10—Acceleration; Deceleration
    • B60G2400/104—Acceleration; Deceleration lateral or transversal with regard to vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/20—Speed
    • B60G2400/208—Speed of wheel rotation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/60—Load
    • B60G2400/61—Load distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/01—Attitude or posture control
    • B60G2800/012—Rolling condition
    • B60G2800/0124—Roll-over conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/22—Braking, stopping
    • B60G2800/224—Braking, stopping automatically, based on dangerous living style
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/24—Steering, cornering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/70—Estimating or calculating vehicle parameters or state variables
    • B60G2800/704—Estimating or calculating vehicle parameters or state variables predicting unorthodox driving conditions for safe or optimal driving
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/92—ABS - Brake Control
    • B60G2800/922—EBV - Electronic brake force distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/03—Overturn, rollover
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2240/00—Monitoring, detecting wheel/tyre behaviour; counteracting thereof
    • B60T2240/06—Wheel load; Wheel lift

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The quad has wheel brakes, transverse acceleration sensors and wheel speed sensors, where the sensors determine the raising of an inward curved wheel. The wheel speed sensors are attached at a side of the quad on each front wheel, where the wheel speed sensors detect the speed characteristics of the wheels. The sensors are connected with an evaluating unit for determining a tilting danger using the sensor signals, where the evaluating unit controls wheel brakes of the quad with the determined tilting danger.

Description

Die Erfindung betrifft ein Quad mit einer Bremsanlage nach dem Oberbegriff des Anspruchs 1.The The invention relates to a quad with a brake system according to the preamble of claim 1.

In den letzten Jahren nimmt die Anzahl der Fahrzeuge im Straßenverkehr ständig zu. Neben den üblichen Fahrzeuggruppen, wie Lkw, Pkw oder Motorräder kommen neue, bis dahin in den Zulassungs- und Unfallstatistiken unbedeutende Arten hinzu. Eine schnell wachsende Gruppe stellen dabei Quads dar.In In recent years, the number of vehicles in road traffic is decreasing constantly too. In addition to the usual vehicle groups, such as trucks, cars or motorcycles come new, until then in add insignificant species to the registration and accident statistics. A fast growing group are quads.

Bei diesen Fahrzeugen ist die Wahrscheinlichkeit eines folgeschweren Verkehrsunfalls um ein Vielfaches größer als bei Pkws (fehlende Crash-Struktur, keine Rückhaltesysteme) aber auch höher wie bei Motorrädern (Schutzkleidung wird seltener verwendet). Neben den aufgeführten Gründen beruht das große Unfall- und Verletzungsrisiko aus der ausgeprägten Kippneigung dieser Fahrzeuge. Dieses Verhalten erklärt sich zum Einen mit ungünstiger Geometrie (geringe Spurweite, hohe Schwerpunktslage), zum Anderen besitzen die meisten Quads kein Differential an der Hinterachse, was es bei einer Kurvenfahrt möglicht macht, das antreibende Moment zu steigern, obwohl schon das kurveninnere Rad abgehoben hat.at These vehicles are less likely to be followed Traffic accident many times greater than at Cars (missing crash structure, no restraint systems) but also higher than motorcycles (protective clothing is used less frequently). In addition to the listed reasons is based the great accident and injury risk from the pronounced Tilting tendency of these vehicles. This behavior explains on the one hand with unfavorable geometry (small gauge, high center of gravity), on the other hand, most quads have no Differential on the rear axle, which makes it possible when cornering makes to increase the driving moment, although already the inside of the curve Wheel has lifted.

Die Schwere der Überschlagunfälle wird dadurch verstärkt, dass der Fahrer vom nachfolgenden, eigenen Fahrzeug noch zusätzlich verletzt werden kann, was z. B. beim Motorrad nicht der Fall ist, da die Maschine unter dem Fahrer wegrutscht und der Fahrer dem Motorrad folgt.The Heaviness of rollover accidents is thereby amplified, that the driver of the subsequent, own vehicle in addition can be violated what z. B. the motorcycle is not the case, because the machine slips under the driver and the driver the motorcycle follows.

Der Erfindung liegt die Aufgabe zugrunde, bei einem Quad ohne aufwendige und teure Sensorik (ESP Sensorik, wie Gierratensensoren) die Kippgefahr zu verringern.Of the Invention is the object of a quad without consuming and expensive sensors (ESP sensors, such as yaw rate sensors) the risk of tipping to reduce.

Erfindungsgemäß wird diese Aufgabe dadurch gelöst, dass dem Quad eine Bremsanlage und Sensoren zugeordnet sind, mittels denen ein Abheben eines kurveninneren Rades ermittelbar ist.According to the invention this task solved by the quad a brake system and sensors are associated, by means of which lifting a curve inside Rades can be determined.

Zweckmäßig ist es, wenn das Abheben des oder der kurveninneren Räder in Abhängigkeit von einer Größe vorgenommen wird, die eine Querbeschleunigung wiedergibt.expedient it is when the lifting of the orbital wheels depending on a size made becomes, which represents a lateral acceleration.

Vorteilhaft ist dem Quad mindestens ein an sich bekannter Querbeschleunigungssensor und/oder Raddrehzahlsensoren zugeordnet.Advantageous the quad is at least one known lateral acceleration sensor and / or Wheel speed sensors assigned.

Vorteilhaft ist mindestens je einem Rad, vorzugsweise jedem Vorderrad, auf jeder Seite des Quads ein an sich bekannter Raddrehzahlsensor zugeordnet, mittels dem das Drehverhalten der Räder erfasst wird. Anhand der Messgrößen der Raddrehzahlsensoren kann eine Kurvenfahrt erkannt werden.Advantageous is at least one wheel each, preferably each front wheel on each Side of the quad assigned a per se known wheel speed sensor, by means of which the rotational behavior of the wheels is detected. Based The measured variables of the wheel speed sensors can be a Cornering are detected.

Ferner ist es vorteilhaft, dass die Sensoren mit einer Auswerteeinheit zum Ermitteln einer Kippgefahr aufgrund der Sensorsignale verbunden sind und die Auswerteeinheit mindestens eine Radbremse, vorzugsweise die des kurvenäußeren Vorderrads, des Quads bei ermittelter Kippgefahr ansteuert.Further It is advantageous that the sensors with an evaluation connected to determine a risk of tipping due to the sensor signals and the evaluation unit at least one wheel brake, preferably that of the outside front wheel, a quad determines the risk of tipping.

Vorteilhafte Weiterbildungen sind in den Unteransprüchen angegeben.advantageous Further developments are specified in the subclaims.

Das Problem, dass diese Fahrzeuge sehr leicht kippen, d. h. sehr schnell eins oder beide kurveninneren Räder den Bodenkontakt verlieren, soll hier genutzt werden ein hinreichend zuverlässiges Kippsignal zu erzeugen.The Problem that these vehicles tilt very easily, d. H. very fast one or both inside wheels lose ground contact, should be used here a sufficiently reliable tilt signal to create.

Dabei wird bei heckgetriebenen Quads das Radverhalten am kurveninnerem Vorderrad beobachtet, wenn bei Kurvenfahrt (wird durch die bekannte Kurvenerkennung detektiert) eine kritische, fahrzeugspezifische Querbeschleunigung überschritten wird. Steigt die Geschwindigkeit oberhalb der Querbeschleunigungsschwelle weiter an und das kurveninnere Vorderrad zeigt für einen vorgegebenen Zeitraum eine konstante oder eine leicht abfallende Geschwindigkeit auf, obwohl das Fahrzeug weiter beschleunigt (ersichtlich an einer weiter ansteigenden Referenzgeschwindigkeit, bzw. am bekannten Fahrzeugverzögerungssignal), wird davon ausgegangen, dass der Abhebevorgang begonnen hat und ein entsprechender Druckaufbau am kurvenäußeren Vorderrad eingesteuert (nach bestehenden ARP Algorithmen).there in rear-wheel-drive quads, the wheel behavior at the inside of the curve becomes Front wheel observed when cornering (is due to the known Curve detection detected) a critical, vehicle-specific Lateral acceleration is exceeded. Increase the speed above the lateral acceleration threshold further on and the inside of the curve Front wheel shows a constant for a given period or a slightly declining speed, though the vehicle further accelerated (evident from a further increasing reference speed, or on the known vehicle deceleration signal), it becomes assumed that the withdrawal process has started and a corresponding Pressure build-up on the outside front wheel controlled (according to existing ARP algorithms).

Die hier dargestellten Erkennungsalgorithmen können in einer, im Vergleich zu einem ESP System, kostengünstigen „TCS Anlage" ablaufen.The Detection algorithms shown here can be used in one, compared to an ESP system, cost-effective "TCS Plant "expire.

Bei allradgetriebenen Quads kann zusätzlich ein Durchdrehen des oder der abgehobenen Räder im angetriebenem Zustand zur Kipperkennung herangezogen werden. (siehe auch DE 102 28 889 A1 ).In all-wheel drive quads can also be used to spin detection of the lifted or the lifted wheels in the driven state. (see also DE 102 28 889 A1 ).

Weiterhin kann das System unter Verwendung zusätzlicher ESP-Sensorik (Sensorcluster, Lenkwinkelsensor) in mehreren Zwischenstufen bis zum vollständigen ARP ausgebaut werden.Farther The system can be made using additional ESP sensor technology (Sensor cluster, steering angle sensor) in several intermediate stages up to the complete ARP.

ZITATE ENTHALTEN IN DER BESCHREIBUNGQUOTES INCLUDE IN THE DESCRIPTION

Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Zitierte PatentliteraturCited patent literature

  • - DE 10228889 A1 [0015] - DE 10228889 A1 [0015]

Claims (6)

Quad mit Radbremsen und Sensoren, mittels denen ein Abheben eines kurveninneren Rades ermittelbar ist.Quad with wheel brakes and sensors, by means of which Lifting a curve inside the wheel can be determined. Quad nach Anspruch 1, dadurch gekennzeichnet, dass das Abheben des oder der kurveninneren Räder in Abhängigkeit von einer Größe vorgenommen wird, die eine Querbeschleunigung wiedergibt.Quad according to claim 1, characterized in that the lifting of the inside or the inside wheels depending on is made by a size that is a lateral acceleration reproduces. Quad nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass dem Quad mindestens ein an sich bekannter Querbeschleunigungssensor und/oder Raddrehzahlsensoren zugeordnet ist.Quad according to claim 1 or 2, characterized that the quad at least one known lateral acceleration sensor and / or Wheel speed sensors is assigned. Quad nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass mindestens je einem Rad, vorzugsweise jedem Vorderrad, auf jeder Seite des Quads, ein an sich bekannter Raddrehzahlsensor zugeordnet, mittels dem das Drehverhalten der Räder erfasst wird.Quad according to one of claims 1 to 3, characterized characterized in that at least one wheel, preferably each Front wheel, on each side of the quad, a per se known wheel speed sensor assigned by means of which detects the rotational behavior of the wheels becomes. Quad nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass die Sensoren mit einer Auswerteeinheit zum Ermitteln einer Kippgefahr aufgrund der Sensorsignale verbunden sind und die Auswerteeinheit mindestens eine Radbremse des Quads bei ermittelter Kippgefahr ansteuert.Quad according to one of claims 1 to 4, characterized in that the sensors are connected to an evaluation unit for Determining a risk of tipping due to the sensor signals connected are and the evaluation at least one wheel of the quad with determined tilting danger drives. Quad nach Anspruch 5, dadurch gekennzeichnet, dass ein Bremsdruckaufbau am kurvenäußern Rad erfolgt.Quad according to claim 5, characterized in that a brake pressure build-up on the outside wheel takes place.
DE102007012164A 2007-03-12 2007-03-12 Quad, has transverse acceleration sensors and wheel speed sensors connected with evaluating unit for determining tilting danger using sensor signals, where evaluating unit controls wheel brakes of quad with determined tilting danger Withdrawn DE102007012164A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE102007012164A DE102007012164A1 (en) 2007-03-12 2007-03-12 Quad, has transverse acceleration sensors and wheel speed sensors connected with evaluating unit for determining tilting danger using sensor signals, where evaluating unit controls wheel brakes of quad with determined tilting danger

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102007012164A DE102007012164A1 (en) 2007-03-12 2007-03-12 Quad, has transverse acceleration sensors and wheel speed sensors connected with evaluating unit for determining tilting danger using sensor signals, where evaluating unit controls wheel brakes of quad with determined tilting danger

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DE102007012164A1 true DE102007012164A1 (en) 2008-09-18

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DE102007012164A Withdrawn DE102007012164A1 (en) 2007-03-12 2007-03-12 Quad, has transverse acceleration sensors and wheel speed sensors connected with evaluating unit for determining tilting danger using sensor signals, where evaluating unit controls wheel brakes of quad with determined tilting danger

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2491136A (en) * 2011-05-24 2012-11-28 David Loomes Three-wheeled electric vehicle with ECU to prevent tipping, flipping and rolling

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19751925A1 (en) * 1997-11-22 1999-05-27 Bosch Gmbh Robert Tilt tendency detection method for vehicles for stabilization and roll-over prevention of heavy duty vehicle
DE10023521A1 (en) * 1999-11-02 2001-05-03 Continental Teves Ag & Co Ohg Method for recognizing a freely rotating wheel in a motor vehicle
DE10228889A1 (en) 2001-06-28 2003-01-23 Continental Teves Ag & Co Ohg Detecting vehicle state with tilt-critical roll inclination involves comparing threshold speed or derivative for wheel on inside of bend with actual wheel value if dynamics threshold exceeded
DE10208619A1 (en) * 2002-02-27 2003-09-04 Bosch Gmbh Robert Method and device for detecting lifted vehicle wheels
DE29624641U1 (en) * 1996-08-16 2006-06-08 Daimlerchrysler Ag Motor vehicle braking system method - has wheels on outside during cornering braked as soon as characteristic-variable instantaneous value exceeds associated tilting-prevention threshold value
WO2007020271A1 (en) * 2005-08-18 2007-02-22 Continental Teves Ag & Co. Ohg Method for the prevention and/or regulation of front wheel lifting of motorcycles

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE29624641U1 (en) * 1996-08-16 2006-06-08 Daimlerchrysler Ag Motor vehicle braking system method - has wheels on outside during cornering braked as soon as characteristic-variable instantaneous value exceeds associated tilting-prevention threshold value
DE19751925A1 (en) * 1997-11-22 1999-05-27 Bosch Gmbh Robert Tilt tendency detection method for vehicles for stabilization and roll-over prevention of heavy duty vehicle
DE10023521A1 (en) * 1999-11-02 2001-05-03 Continental Teves Ag & Co Ohg Method for recognizing a freely rotating wheel in a motor vehicle
DE10228889A1 (en) 2001-06-28 2003-01-23 Continental Teves Ag & Co Ohg Detecting vehicle state with tilt-critical roll inclination involves comparing threshold speed or derivative for wheel on inside of bend with actual wheel value if dynamics threshold exceeded
DE10208619A1 (en) * 2002-02-27 2003-09-04 Bosch Gmbh Robert Method and device for detecting lifted vehicle wheels
WO2007020271A1 (en) * 2005-08-18 2007-02-22 Continental Teves Ag & Co. Ohg Method for the prevention and/or regulation of front wheel lifting of motorcycles

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2491136A (en) * 2011-05-24 2012-11-28 David Loomes Three-wheeled electric vehicle with ECU to prevent tipping, flipping and rolling
GB2491136B (en) * 2011-05-24 2014-12-10 David Loomes Battery powered trike

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Effective date: 20140313