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WO1992005987A3 - Procede de determination de l'obliquite et/ou de la stabilite laterale d'un vehicule freine - Google Patents

Procede de determination de l'obliquite et/ou de la stabilite laterale d'un vehicule freine Download PDF

Info

Publication number
WO1992005987A3
WO1992005987A3 PCT/EP1991/001841 EP9101841W WO9205987A3 WO 1992005987 A3 WO1992005987 A3 WO 1992005987A3 EP 9101841 W EP9101841 W EP 9101841W WO 9205987 A3 WO9205987 A3 WO 9205987A3
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
oblique
determining
motion
force acting
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.)
Ceased
Application number
PCT/EP1991/001841
Other languages
German (de)
English (en)
Other versions
WO1992005987A2 (fr
Inventor
Thomas Ehret
Uwe Hartmann
Albert Lutz
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Priority to US07/859,394 priority Critical patent/US5371677A/en
Priority to DE59104158T priority patent/DE59104158D1/de
Priority to EP91916578A priority patent/EP0503026B1/fr
Publication of WO1992005987A2 publication Critical patent/WO1992005987A2/fr
Publication of WO1992005987A3 publication Critical patent/WO1992005987A3/fr
Anticipated expiration legal-status Critical
Ceased 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
    • B60T8/17552—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve responsive to the tyre sideslip angle or the vehicle body slip angle
    • 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
    • B62D6/04—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to forces disturbing the intended course of the vehicle, e.g. forces acting transversely to the direction of vehicle travel
    • 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
    • B60T2230/02—Side slip angle, attitude angle, floating angle, drift angle
    • 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
    • B60T2270/00—Further aspects of brake control systems not otherwise provided for
    • B60T2270/86—Optimizing braking by using ESP vehicle or tyre model

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Regulating Braking Force (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

Selon un procédé de détermination de l'obliquité αi et/ou de la stabilité latérale Fs d'un véhicule freiné, on détermine les valeurs recherchées en tant que valeurs estimatives à partir d'un modèle simplifié du véhicule, en utilisant les vitesses des roues VRi, l'angle de braquage δ, la vitesse d'embardée σ et la pression PHB2 dans le maître-cylindrique de freinage ou les pressions Pi de freinage des roues en tant que valeurs de mesure.
PCT/EP1991/001841 1990-09-28 1991-09-26 Procede de determination de l'obliquite et/ou de la stabilite laterale d'un vehicule freine Ceased WO1992005987A2 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
US07/859,394 US5371677A (en) 1990-09-28 1991-09-26 Method for determining the slip angles and/or the cornering forces of a braked vehicle
DE59104158T DE59104158D1 (de) 1990-09-28 1991-09-26 Verfahren zum bestimmen der schräglaufwinkel und/oder der seitenführungskräfte eines gebremsten fahrzeugs.
EP91916578A EP0503026B1 (fr) 1990-09-28 1991-09-26 Procede de determination de l'obliquite et/ou de la stabilite laterale d'un vehicule freine

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE4030653A DE4030653A1 (de) 1990-09-28 1990-09-28 Verfahren zum bestimmen der schraeglaufwinkel und/oder der seitenfuehrungskraefte eines gebremsten fahrzeuges
DEP4030653.4 1990-09-28

Publications (2)

Publication Number Publication Date
WO1992005987A2 WO1992005987A2 (fr) 1992-04-16
WO1992005987A3 true WO1992005987A3 (fr) 1992-05-14

Family

ID=6415136

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP1991/001841 Ceased WO1992005987A2 (fr) 1990-09-28 1991-09-26 Procede de determination de l'obliquite et/ou de la stabilite laterale d'un vehicule freine

Country Status (6)

Country Link
US (1) US5371677A (fr)
EP (1) EP0503026B1 (fr)
JP (2) JPH05502421A (fr)
DE (2) DE4030653A1 (fr)
HU (1) HU9201785D0 (fr)
WO (1) WO1992005987A2 (fr)

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DE4123053C2 (de) * 1991-07-12 2000-05-25 Bosch Gmbh Robert Verfahren zur Bestimmung wenigstens einer Bewegungsgröße eines Fahrzeugs
DE4225983C2 (de) * 1992-08-06 2002-03-14 Bosch Gmbh Robert Verfahren zur Bremsung von Fahrzeugrädern
DE4226746C1 (de) * 1992-08-13 1993-10-07 Daimler Benz Ag Verfahren zur Bestimmung eines fahrsituationsabhängigen Lenkwinkels
DE4226749C2 (de) * 1992-08-13 1996-02-08 Daimler Benz Ag Verfahren zur Bestimmung das Fahrverhalten charakterisierender Größen
DE4229504B4 (de) * 1992-09-04 2007-11-29 Robert Bosch Gmbh Verfahren zur Regelung der Fahrzeugstabilität
DE4243717A1 (de) * 1992-12-23 1994-06-30 Bosch Gmbh Robert Verfahren zur Regelung der Fahrzeugstabilität
DE4419979C2 (de) * 1994-06-08 1997-09-04 Bayerische Motoren Werke Ag Verfahren zum Bestimmen des Schräglaufwinkels und/oder des Querschlupfes eines Rades bei Kraftfahrzeugen
US5701248A (en) 1994-11-25 1997-12-23 Itt Automotive Europe Gmbh Process for controlling the driving stability with the king pin inclination difference as the controlled variable
US5671143A (en) * 1994-11-25 1997-09-23 Itt Automotive Europe Gmbh Driving stability controller with coefficient of friction dependent limitation of the reference yaw rate
US5694321A (en) 1994-11-25 1997-12-02 Itt Automotive Europe Gmbh System for integrated driving stability control
US5711024A (en) 1994-11-25 1998-01-20 Itt Automotive Europe Gmbh System for controlling yaw moment based on an estimated coefficient of friction
US5774821A (en) 1994-11-25 1998-06-30 Itt Automotive Europe Gmbh System for driving stability control
US5732378A (en) 1994-11-25 1998-03-24 Itt Automotive Europe Gmbh Method for determining a wheel brake pressure
US5735584A (en) * 1994-11-25 1998-04-07 Itt Automotive Europe Gmbh Process for driving stability control with control via pressure gradients
US5742507A (en) 1994-11-25 1998-04-21 Itt Automotive Europe Gmbh Driving stability control circuit with speed-dependent change of the vehicle model
DE19515048A1 (de) 1994-11-25 1996-05-30 Teves Gmbh Alfred System zur Fahrstabilitätsregelung
US5732377A (en) 1994-11-25 1998-03-24 Itt Automotive Europe Gmbh Process for controlling driving stability with a yaw rate sensor equipped with two lateral acceleration meters
US5710705A (en) 1994-11-25 1998-01-20 Itt Automotive Europe Gmbh Method for determining an additional yawing moment based on side slip angle velocity
US5710704A (en) 1994-11-25 1998-01-20 Itt Automotive Europe Gmbh System for driving stability control during travel through a curve
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DE4446582B4 (de) * 1994-12-24 2005-11-17 Robert Bosch Gmbh Fahrdynamikregelsystem
DE4446534B4 (de) * 1994-12-24 2004-06-17 Robert Bosch Gmbh Fahrdynamikregelsystem
DE4446592B4 (de) * 1994-12-24 2005-08-04 Robert Bosch Gmbh Fahrdynamikregelsystem
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JP3303605B2 (ja) * 1995-05-17 2002-07-22 トヨタ自動車株式会社 車輌の挙動制御装置
DE19530735A1 (de) * 1995-08-22 1997-02-27 Bosch Gmbh Robert Verfahren und Vorrichtung zur Steuerung der Bremsanlage eines Fahrzeugs
JP3060923B2 (ja) * 1995-11-24 2000-07-10 トヨタ自動車株式会社 車両状態推定装置
DE19544691B4 (de) * 1995-11-30 2004-08-05 Robert Bosch Gmbh System zur Bestimmung der Schräglaufsteifigkeit
US5684700A (en) * 1995-12-05 1997-11-04 Ford Global Technologies, Inc. Adaptive steering control using vehicle slip angle and steering rate
US5899952A (en) * 1995-12-27 1999-05-04 Toyota Jidosha Kabushiki Kaisha Device for estimating slip angle of vehicle body through interrelation thereof with yaw rate
DE19617590A1 (de) * 1996-05-02 1997-11-06 Teves Gmbh Alfred Verfahren zur Bestimmung eines Fahrzeug-Sollverhaltens
JP3553735B2 (ja) * 1996-06-13 2004-08-11 正人 安部 車両挙動制御方法及びその装置
US5878357A (en) * 1996-09-03 1999-03-02 Ford Global Technologies, Inc. Method and apparatus for vehicle yaw rate estimation
EP0829401B1 (fr) * 1996-09-13 2002-03-13 Volkswagen Aktiengesellschaft Procédé et dispositif pour régler le comportement dynamique transversal d'un véhicule
JP3306315B2 (ja) * 1996-10-04 2002-07-24 株式会社ユニシアジェックス 車体スリップ角検出装置
US5918951A (en) * 1997-05-09 1999-07-06 The B.F. Goodrich Company Antiskid brake control system using kalman filtering
US6220676B1 (en) 1997-05-09 2001-04-24 The B. F. Goodrich Company Antiskid control of multi-wheel vehicles using coupled and decoupled Kalman filtering incorporating pitch weight transfer
US6036285A (en) * 1997-12-31 2000-03-14 The B.F. Goodrich Company Brake system using torque feedback control with torque level transitioning
US5951122A (en) * 1997-12-31 1999-09-14 The B.F. Goodrich Company Antiskid control and wheel lock protection differential reference controller
US6125318A (en) * 1998-02-12 2000-09-26 The B. F. Goodrich Company Slip ratio antiskid controller using mu/slip ratio generated velocity reference
US6178370B1 (en) 1998-02-12 2001-01-23 The B. F. Goodrich Company Deceleration based antiskid brake contoller with adaptive deceleration threshold
JP3458734B2 (ja) * 1998-04-09 2003-10-20 トヨタ自動車株式会社 車輌の運動制御装置
DE19910967C1 (de) * 1999-03-12 2000-09-21 Avl Deutschland Gmbh Verfahren zum Simulieren des Verhaltens eines Fahrzeugs auf einer Fahrbahn
US6508102B1 (en) 1999-08-26 2003-01-21 Aisin Seiki Co., Ltd. Near real-time friction estimation for pre-emptive vehicle control
DE19964164B4 (de) 1999-12-30 2009-03-26 Knorr-Bremse Systeme für Nutzfahrzeuge GmbH Einrichtung und Verfahren zum Stabilisieren eines Gespanns aus einer Zugmaschine und zumindest einem Auflieger oder Anhänger
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JP4950052B2 (ja) * 2004-10-14 2012-06-13 コンティネンタル・テーベス・アクチエンゲゼルシヤフト・ウント・コンパニー・オッフェネ・ハンデルスゲゼルシヤフト 電子的に制御可能なディファレンシャルロック機構のロックレベルを制御するための方法及び装置
JP4606861B2 (ja) * 2004-12-03 2011-01-05 本田技研工業株式会社 車両状態検知装置
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EP2757007B1 (fr) * 2013-01-17 2018-03-07 Autoliv Development AB Système de sécurité de véhicule
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KR102418028B1 (ko) * 2018-04-06 2022-07-06 현대자동차주식회사 차량 제어 시스템, 차량 제어 시스템의 제어 방법
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DE3923599A1 (de) * 1988-07-27 1990-02-01 Bosch Gmbh Robert Verfahren zur bestimmung der bremskraefte
WO1990006251A1 (fr) * 1988-12-01 1990-06-14 Robert Bosch Gmbh Procede pour ameliorer la tenue de route d'un vehicule
DE3935588A1 (de) * 1989-10-23 1991-04-25 Forschungsgesellschaft Kraftfa Verfahren zur gewaehrleistung der fahrstabilitaet von kraftfahrzeugen

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EP0152602A1 (fr) * 1983-12-16 1985-08-28 Robert Bosch Gmbh Procédé pour déterminer une valeur de glissement optimale
DE3923599A1 (de) * 1988-07-27 1990-02-01 Bosch Gmbh Robert Verfahren zur bestimmung der bremskraefte
WO1990006251A1 (fr) * 1988-12-01 1990-06-14 Robert Bosch Gmbh Procede pour ameliorer la tenue de route d'un vehicule
DE3935588A1 (de) * 1989-10-23 1991-04-25 Forschungsgesellschaft Kraftfa Verfahren zur gewaehrleistung der fahrstabilitaet von kraftfahrzeugen

Also Published As

Publication number Publication date
HU9201785D0 (en) 1992-09-28
EP0503026A1 (fr) 1992-09-16
DE59104158D1 (de) 1995-02-16
JP2003127806A (ja) 2003-05-08
WO1992005987A2 (fr) 1992-04-16
US5371677A (en) 1994-12-06
JPH05502421A (ja) 1993-04-28
DE4030653A1 (de) 1992-04-02
EP0503026B1 (fr) 1995-01-04

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