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DE10342865A1 - Stabilizing motor vehicle-trailer combination involves activating braking system if no adjustment of actual yaw rate towards desired yaw rate occurs when stabilizing steering intervention carried out - Google Patents

Stabilizing motor vehicle-trailer combination involves activating braking system if no adjustment of actual yaw rate towards desired yaw rate occurs when stabilizing steering intervention carried out Download PDF

Info

Publication number
DE10342865A1
DE10342865A1 DE10342865A DE10342865A DE10342865A1 DE 10342865 A1 DE10342865 A1 DE 10342865A1 DE 10342865 A DE10342865 A DE 10342865A DE 10342865 A DE10342865 A DE 10342865A DE 10342865 A1 DE10342865 A1 DE 10342865A1
Authority
DE
Germany
Prior art keywords
yaw rate
stabilizing
motor vehicle
adjustment
steering intervention
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Withdrawn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
DE10342865A
Other languages
German (de)
Inventor
Matthias Grupp
Reent Heyken
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.)
Bayerische Motoren Werke AG
Original Assignee
Bayerische Motoren Werke AG
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 Bayerische Motoren Werke AG filed Critical Bayerische Motoren Werke AG
Priority to DE10342865A priority Critical patent/DE10342865A1/en
Publication of DE10342865A1 publication Critical patent/DE10342865A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • 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
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • 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
    • B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
    • B60T8/1708—Braking or traction control means specially adapted for particular types of vehicles for lorries or tractor-trailer combinations
    • 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
    • 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
    • B60T8/24—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle inclination or change of direction, e.g. negotiating bends
    • B60T8/241—Lateral vehicle inclination
    • B60T8/243—Lateral vehicle inclination for roll-over protection
    • 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
    • B60T8/24—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle inclination or change of direction, e.g. negotiating bends
    • B60T8/246—Change of direction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D13/00—Steering specially adapted for trailers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis
    • 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
    • B60T2230/06—Tractor-trailer swaying
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/14—Yaw

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Regulating Braking Force (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

The method involves a sensor system detecting a roll movement, whereby the vehicle has a steering system with a yaw rate control system that can stabilize the motor vehicle for a known deviation of the measured actual yaw rate using a driver-independent steering intervention. If a known deviation between the actual and desired yaw rate occurs in combination mode, in addition to carrying out a stabilizing steering intervention the drive torque of the motor vehicle is considerably reduced and the braking system is then activated in the event that no adjustment of the actual towards the desired yaw rate occurs.
DE10342865A 2003-09-15 2003-09-15 Stabilizing motor vehicle-trailer combination involves activating braking system if no adjustment of actual yaw rate towards desired yaw rate occurs when stabilizing steering intervention carried out Withdrawn DE10342865A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE10342865A DE10342865A1 (en) 2003-09-15 2003-09-15 Stabilizing motor vehicle-trailer combination involves activating braking system if no adjustment of actual yaw rate towards desired yaw rate occurs when stabilizing steering intervention carried out

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE10342865A DE10342865A1 (en) 2003-09-15 2003-09-15 Stabilizing motor vehicle-trailer combination involves activating braking system if no adjustment of actual yaw rate towards desired yaw rate occurs when stabilizing steering intervention carried out

Publications (1)

Publication Number Publication Date
DE10342865A1 true DE10342865A1 (en) 2005-04-21

Family

ID=34352883

Family Applications (1)

Application Number Title Priority Date Filing Date
DE10342865A Withdrawn DE10342865A1 (en) 2003-09-15 2003-09-15 Stabilizing motor vehicle-trailer combination involves activating braking system if no adjustment of actual yaw rate towards desired yaw rate occurs when stabilizing steering intervention carried out

Country Status (1)

Country Link
DE (1) DE10342865A1 (en)

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007009834A1 (en) 2007-02-28 2008-09-04 Bayerische Motoren Werke Aktiengesellschaft Device for stabilizing vehicle trailer combination, has torque distribution device for controlling and regulating coupling of two wheels of vehicle or trailer axle
WO2009003802A1 (en) * 2007-06-29 2009-01-08 Robert Bosch Gmbh Method for stabilizing a vehicle combination
DE102009011907A1 (en) * 2009-03-05 2010-09-09 Bayerische Motoren Werke Aktiengesellschaft Data processing system for stabilization of tractor trailer towed by passenger car, has determining device determining critical velocity of trailer based on detected vibrations, where critical velocity is perceptibly represented for driver
US8010253B2 (en) 2007-02-20 2011-08-30 Zf Lenksysteme Gmbh Method for stabilizing a vehicle combination
US8046147B2 (en) * 2005-11-22 2011-10-25 Continental Teves Ag & Co. Ohg Method and driving dynamics control system for stabilizing a car-trailer combination
WO2014090578A1 (en) * 2012-12-12 2014-06-19 Robert Bosch Gmbh Method and device for stabilizing a vehicle combination consisting of a towing vehicle and a trailer
DE102014211061A1 (en) * 2014-06-11 2016-01-21 Continental Teves Ag & Co. Ohg Method and device for regulating the driving stability of a vehicle
CN107521487A (en) * 2016-06-21 2017-12-29 福特全球技术公司 For mitigating the system of vehicle roll
DE102005028787B4 (en) * 2004-10-22 2018-02-22 Volkswagen Ag System for trailer stabilization
DE102016011282A1 (en) 2016-09-20 2018-03-22 Wabco Gmbh Method for performing an evasive maneuver with a commercial vehicle team, and emergency evasion system
CN112477861A (en) * 2019-08-20 2021-03-12 北京图森智途科技有限公司 Driving control method and device for automatic driving truck and automatic driving truck
DE102024122192A1 (en) * 2024-08-02 2025-04-30 Thyssenkrupp Ag Method for steering a motor vehicle and steering system for a motor vehicle

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19964048A1 (en) * 1999-06-30 2001-01-04 Bosch Gmbh Robert Method and device for stabilizing a road vehicle
DE10034222A1 (en) * 2000-07-13 2002-01-31 Bosch Gmbh Robert Method and device for stabilizing a road vehicle

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19964048A1 (en) * 1999-06-30 2001-01-04 Bosch Gmbh Robert Method and device for stabilizing a road vehicle
DE10034222A1 (en) * 2000-07-13 2002-01-31 Bosch Gmbh Robert Method and device for stabilizing a road vehicle

Cited By (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005028787B4 (en) * 2004-10-22 2018-02-22 Volkswagen Ag System for trailer stabilization
US8046147B2 (en) * 2005-11-22 2011-10-25 Continental Teves Ag & Co. Ohg Method and driving dynamics control system for stabilizing a car-trailer combination
DE102007008342B4 (en) * 2007-02-20 2016-09-01 Robert Bosch Automotive Steering Gmbh Method for stabilizing a vehicle network
US8010253B2 (en) 2007-02-20 2011-08-30 Zf Lenksysteme Gmbh Method for stabilizing a vehicle combination
DE102007009834A1 (en) 2007-02-28 2008-09-04 Bayerische Motoren Werke Aktiengesellschaft Device for stabilizing vehicle trailer combination, has torque distribution device for controlling and regulating coupling of two wheels of vehicle or trailer axle
DE102007009834B4 (en) 2007-02-28 2019-06-13 Bayerische Motoren Werke Aktiengesellschaft Device and method for stabilizing a motor vehicle combination
WO2009003802A1 (en) * 2007-06-29 2009-01-08 Robert Bosch Gmbh Method for stabilizing a vehicle combination
DE102009011907A1 (en) * 2009-03-05 2010-09-09 Bayerische Motoren Werke Aktiengesellschaft Data processing system for stabilization of tractor trailer towed by passenger car, has determining device determining critical velocity of trailer based on detected vibrations, where critical velocity is perceptibly represented for driver
WO2014090578A1 (en) * 2012-12-12 2014-06-19 Robert Bosch Gmbh Method and device for stabilizing a vehicle combination consisting of a towing vehicle and a trailer
CN104955713A (en) * 2012-12-12 2015-09-30 罗伯特·博世有限公司 Method and device for stabilizing a vehicle combination consisting of a towing vehicle and a trailer
US9493156B2 (en) 2012-12-12 2016-11-15 Robert Bosch Gmbh Method and device for stabilizing a vehicle combination made up of a tractor vehicle and a trailer
CN104955713B (en) * 2012-12-12 2017-06-20 罗伯特·博世有限公司 For the method and apparatus that stabilization includes the tractor group of tractor and towed vehicle
US20150314782A1 (en) * 2012-12-12 2015-11-05 Nec Corporation Method and device for stabilizing a vehicle combination made up of a tractor vehicle and a trailer
JP2016502953A (en) * 2012-12-12 2016-02-01 ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツングＲｏｂｅｒｔ Ｂｏｓｃｈ Ｇｍｂｈ Method and apparatus for stabilizing an articulated vehicle comprising a tow vehicle and a trailer
DE102014211061A1 (en) * 2014-06-11 2016-01-21 Continental Teves Ag & Co. Ohg Method and device for regulating the driving stability of a vehicle
CN107521487A (en) * 2016-06-21 2017-12-29 福特全球技术公司 For mitigating the system of vehicle roll
CN107521487B (en) * 2016-06-21 2022-04-29 福特全球技术公司 System for reducing vehicle sway
DE102016011282A1 (en) 2016-09-20 2018-03-22 Wabco Gmbh Method for performing an evasive maneuver with a commercial vehicle team, and emergency evasion system
WO2018054517A1 (en) 2016-09-20 2018-03-29 Wabco Gmbh Method for performing an evasive manoeuvre with a utility vehicle combination, and emergency evasion system
US11407408B2 (en) 2016-09-20 2022-08-09 Zf Cv Systems Europe Bv Method for performing an evasive maneuver with a utility vehicle combination, and emergency evasion system
CN112477861A (en) * 2019-08-20 2021-03-12 北京图森智途科技有限公司 Driving control method and device for automatic driving truck and automatic driving truck
DE102024122192A1 (en) * 2024-08-02 2025-04-30 Thyssenkrupp Ag Method for steering a motor vehicle and steering system for a motor vehicle

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Legal Events

Date Code Title Description
OM8 Search report available as to paragraph 43 lit. 1 sentence 1 patent law
8141 Disposal/no request for examination