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WO2001051327A1 - Procede permettant d'augmenter le braquage et/ou la stabilite d'un vehicule dans un virage - Google Patents

Procede permettant d'augmenter le braquage et/ou la stabilite d'un vehicule dans un virage Download PDF

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Publication number
WO2001051327A1
WO2001051327A1 PCT/EP2001/000265 EP0100265W WO0151327A1 WO 2001051327 A1 WO2001051327 A1 WO 2001051327A1 EP 0100265 W EP0100265 W EP 0100265W WO 0151327 A1 WO0151327 A1 WO 0151327A1
Authority
WO
WIPO (PCT)
Prior art keywords
wheels
brake
braking force
wheel
brake system
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/EP2001/000265
Other languages
German (de)
English (en)
Inventor
Ivica Batistic
Robert Schmidt
Wolfgang Kling
Andreas Kohl
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 US10/181,136 priority Critical patent/US6974195B2/en
Priority to EP01942342A priority patent/EP1250250A1/fr
Priority to JP2001551723A priority patent/JP2003519590A/ja
Publication of WO2001051327A1 publication Critical patent/WO2001051327A1/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
    • B60T8/24—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
    • 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
    • B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
    • B60T2201/16—Curve braking control, e.g. turn control within ABS control algorithm

Definitions

  • the invention relates to a method for increasing the steerability and / or driving stability of a motor vehicle equipped with a controlled braking system, in which the turning behavior and / or the wheel slip of the individual vehicle wheels is observed when cornering and in which the distribution of the braking force on the curve detection Varies on the outside of the bend and on the bends on the inside of the bend are varied depending on the wheel turning behavior and / or the wheel slip.
  • a brake system for performing the method is also part of the invention.
  • BEST ⁇ IGUNGSKOPIE Furthermore, it is known from DE 196 48 909 AI to improve the control behavior of an anti-lock brake system that is capable of active braking, if a deceleration of the vehicle is detected during cornering deceleration without brake application and if at the same time a critical on turning in of the vehicle ( wheel slip condition indicating oversteer) is met to initiate a special regulation which effects the introduction of brake pressure into the wheel brake of the front wheel on the outside of the curve. This special regulation, which prevents the vehicle from oversteering, only works when the brake is not applied.
  • BEST ⁇ GUNGSKOPIE becomes .
  • the braking pressure and thus the braking force on the front wheel on the outside of the curve is increased, on the other hand, it is lowered or kept constant on the front wheel on the inside of the curve.
  • the asymmetrical distribution of the braking forces on the front axle is adapted to the driving condition by the control system.
  • the braking system is designed - the (increased) brake pressure on the outside wheel cannot or must not exceed the pre-pressure specified by the pedal actuation or the braking force specified by the pedal force.
  • the overall deceleration of the vehicle is inevitably less than when driving straight ahead or cornering with the same brake pressures on the wheels on the outside of the curve and on the inside of the curve. This is at least irritating for the driver and requires adaptation to the special situation.
  • the method according to the invention achieves the total deceleration desired by the driver even when cornering, when there is a sudden lane change, etc.
  • a pressure build-up on the wheel on the outside of the curve beyond the driver's specification is advantageous as a result of the method according to the invention even in the case of low driver pressure specifications in which the necessary stabilizing torque could not be applied simply by reducing the pressure (on the wheel on the inside of the curve).
  • the increase in the braking force on the wheels on the outside of the curve and the reduction on the wheels on the inside of the curve can be brought about in steps simultaneously or within a predetermined period of time, for example by pressure change pulses or pressure change pulse sequences.
  • a predetermined period of time for example by pressure change pulses or pressure change pulse sequences.
  • the braking force being increased, for example, by a predetermined time period in the order of 50 ms to 500 ms offset should be brought about after the brake force reduction on the inside wheel or on the inside wheels.
  • a brake system which is particularly suitable for carrying out the method according to the invention is a so-called.
  • Brake-by-wire system e.g. designed as an electro-hydraulic brake system (EMS) or electromechanical brake system (EMB).
  • EMS electro-hydraulic brake system
  • EMB electromechanical brake system
  • the pedal actuation or the driver's request expressed by the pedal actuation is recorded in principle and transmitted in the form of an electrical signal to the brake force generator.
  • Fig. 3 shows another embodiment of a brake system according to the invention.
  • the "driver request" expressed by actuation of the brake pedal is, according to the principle of the invention illustrated with reference to FIG. 1, first by a block designated EBV (electronic brake force distribution) in brake force components or pressure components Pi to P 4 for the individual vehicle wheels 1 to 4 implemented.
  • EBV electronic brake force distribution
  • a subsequent block or processing stage 2 which is referred to in FIG. 1 as “ESBS pressure distribution” (brake systems of this type are known in specialist circles as “ABSplus” systems or “enhanced stability brake systems”), these are the individual wheels assigned pressure or braking force components P 1 to P 4 when cornering detection (KFE) are modified according to the specifications of the method according to the invention, so that pressure or braking force components Pi 'to P 4 ' are available at the output of stage 2.
  • KFE cornering detection
  • BEST ⁇ TlGUNGSKDPff Curve detection can be implemented in very different ways. For example, curve detection by observing the slip course of the individual wheels is known. The result is at least apparently a different slip on the bend-outer wheels compared to the kur ⁇ veninneren vehicle wheels.
  • FIG. 1 An oversteering vehicle is shown symbolically in the lower part of FIG. 1 in order to illustrate that when the method according to the invention is applied, the pressure (or the braking force) Pi calculated in stage 1 on the outer front wheel V au increases by a certain amount ⁇ P X , however, the pressure P 2 on the curve-inward front wheel V ⁇ n a Dif ⁇ ferenz pressure .DELTA.P 2 is lowered. As a result, the brake pressure Pi 'prevailing at the front wheel on the outside of the curve becomes higher than the brake pressure P ⁇ corresponding to the driver's request. According to the invention, this is of crucial importance.
  • a brake system is shown schematically, in which the pedal force or the pressure "P stat • 1 • • 4" expressing the "driver's request", which applies in the static state of the vehicle and when driving straight ahead, is supplied on the one hand a brake of a force splitter 3 (EBV) and on the other hand, a call as “ESBS” ⁇ th stage 4, in which the special conditions to be considered when cornering.
  • the dynamic components “P dyn (EBV) 1..4" calculated by the electronic brake force distribution EBV 3 and the dynamic components P dyn (ESBS) 1 .. dependent on cornering are finally calculated in a distribution stage 5 called "pressure arbitration” evaluated the components "P dyn 1..4" supplied to the individual vehicle wheels.
  • BEST ⁇ T ⁇ GUNGSKOPIE 3 shows yet another exemplary embodiment of a brake system for carrying out the method according to the invention.
  • the "driver request detection” symbolizes a block 6, the output signal of which is fed to an electronic brake force distribution 7, which takes the static conditions into account.
  • An arithmetic unit 8 which represents an adaptation algorithm for the adaptive portion of the braking force distribution under static conditions, is used for detecting the driving situation (cornering or driving straight ahead, road disturbance, etc.), for processing the speeds Vi to V 4 of the individual vehicle wheels and for evaluating these input variables.
  • FIG. 3 shows the brake force distribution concept of a brake-by-wire system, especially an electro-hydraulic brake system (EHD), in which the invention is used.
  • EHD electro-hydraulic brake system
  • FIG. 4 shows a diagram to illustrate a further exemplary embodiment of the invention, which consists in that the pressure difference components to take into account cornering, namely the pressure compensation components ⁇ Pi, - ⁇ P 2 (see FIG. 1), offset the wheel brake pressure Pi in time, P 2 (see Fig. 1) can be added in order to achieve a comfortable state of the necessary To ensure yaw moment to support cornering.
  • the pressure correction begins at time t 0 .
  • a pressure reduction pulse on the front wheel on the inside of the curve reduces the wheel brake pressure by approximately 5 bar (corresponds to ⁇ P 2 in FIG. 1) and only then, after 200 ms at time ti, the wheel brake pressure on the front wheel on the outside of the curve, also by 5 bar

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Regulating Braking Force (AREA)

Abstract

L'invention concerne un procédé permettant d'augmenter le braquage et la stabilité d'un véhicule automobile dans un virage. Selon ce procédé, le comportement de rotation ou le patinage des différentes roues est observé et la répartition de la force de freinage sur les roues à l'extérieur du virage par rapport à celle de la force de freinage sur les roues à l'intérieur du virage varie en fonction du comportement de rotation ou du patinage des roues. En cas de détection d'un virage, une décélération globale du véhicule correspondant au souhait du conducteur est déterminée et une décélération du véhicule correspondant au souhait du conducteur est engendrée par augmentation de la force de freinage ( DELTA P1) sur la ou les roues à l'extérieur du virage et par réduction ou maintien de la force de freinage ( DELTA P2) sur les roues à l'intérieur du virage.
PCT/EP2001/000265 2000-01-13 2001-01-11 Procede permettant d'augmenter le braquage et/ou la stabilite d'un vehicule dans un virage Ceased WO2001051327A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
US10/181,136 US6974195B2 (en) 2000-01-13 2001-01-11 Method for increasing the maneuverability or driving stability of a vehicle during cornering
EP01942342A EP1250250A1 (fr) 2000-01-13 2001-01-11 Procede permettant d'augmenter le braquage et/ou la stabilite d'un vehicule dans un virage
JP2001551723A JP2003519590A (ja) 2000-01-13 2001-01-11 カーブ走行時の車両の操舵性およびまたは走行安定性を高める方法

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE10001019.9 2000-01-13
DE10001019 2000-01-13
DE10004243 2000-02-01
DE10004243.0 2000-02-01

Publications (1)

Publication Number Publication Date
WO2001051327A1 true WO2001051327A1 (fr) 2001-07-19

Family

ID=26003824

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2001/000265 Ceased WO2001051327A1 (fr) 2000-01-13 2001-01-11 Procede permettant d'augmenter le braquage et/ou la stabilite d'un vehicule dans un virage

Country Status (4)

Country Link
EP (1) EP1250250A1 (fr)
JP (1) JP2003519590A (fr)
DE (1) DE10101197A1 (fr)
WO (1) WO2001051327A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2841200A1 (fr) * 2002-06-21 2003-12-26 Delphi Tech Inc Procede et dispositif pour le freinage en courbe d'un vehicule atomobile

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10150493B4 (de) * 2000-10-18 2011-01-27 Continental Teves Ag & Co. Ohg Verfahren zur Erhöhung der Fahrstabilität während einer Teilbremsung bei Kurvenfahrt nach einer ABSplus-Regelstrategie
US6735510B2 (en) 2001-10-12 2004-05-11 Delphi Technologies, Inc. Dynamic side to side brake proportioning
DE10205037A1 (de) * 2002-02-07 2003-08-21 Bayerische Motoren Werke Ag Verfahren zum Bestimmen des vom Fahrer eines Kraftfahrzeugs vorgegebenen und an eine Fahrzeug-Bremsanlage weitergeleiteten Bremswunsches
DE10226227B4 (de) * 2002-06-13 2016-05-12 Continental Teves Ag & Co. Ohg Verfahren zur Stabilisierung eines Fahrzeugs und Einrichtung zur Fahrstabilitätsregelung
DE10244557A1 (de) * 2002-09-25 2004-04-08 Continental Teves Ag & Co. Ohg Verfahren zur Verbesserung der Fahreigenschaft eines Fahrzeugs
JP4374899B2 (ja) * 2003-05-14 2009-12-02 日産自動車株式会社 車両の制動力制御装置
US8500219B2 (en) 2008-02-22 2013-08-06 Continental Teves Ag & Co. Ohg Method and device for stabilizing a vehicle

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4340921A1 (de) * 1993-12-01 1995-06-08 Bosch Gmbh Robert Fahrdynamikregelsystem
EP0872393A2 (fr) * 1997-04-16 1998-10-21 Volkswagen Aktiengesellschaft Procédé de réglage de la pression de freinage d'un véhicule
DE19816432A1 (de) * 1997-04-16 1998-10-29 Volkswagen Ag Verfahren zur Bremsdruckregelung eines Kraftfahrzeuges
WO1999030942A1 (fr) * 1997-12-16 1999-06-24 Continental Teves Ag & Co. Ohg Procede pour accroitre la stabilite au capotage d'un vehicule
DE19832484A1 (de) * 1998-02-07 1999-08-12 Itt Mfg Enterprises Inc Verfahren und Vorrichtung zur Erkennung einer Kurvenfahrt, insbesondere einer übersteuerten Kurvenfahrt und zur Stabilisierung eines Fahrzeugs bei einer übersteuerten Kurvenfahrt

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2679415B2 (ja) * 1990-12-21 1997-11-19 日産自動車株式会社 車両の制動力左右配分制御装置
JPH1134831A (ja) * 1997-05-21 1999-02-09 Denso Corp ブレーキ制御装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4340921A1 (de) * 1993-12-01 1995-06-08 Bosch Gmbh Robert Fahrdynamikregelsystem
EP0872393A2 (fr) * 1997-04-16 1998-10-21 Volkswagen Aktiengesellschaft Procédé de réglage de la pression de freinage d'un véhicule
DE19816432A1 (de) * 1997-04-16 1998-10-29 Volkswagen Ag Verfahren zur Bremsdruckregelung eines Kraftfahrzeuges
WO1999030942A1 (fr) * 1997-12-16 1999-06-24 Continental Teves Ag & Co. Ohg Procede pour accroitre la stabilite au capotage d'un vehicule
DE19832484A1 (de) * 1998-02-07 1999-08-12 Itt Mfg Enterprises Inc Verfahren und Vorrichtung zur Erkennung einer Kurvenfahrt, insbesondere einer übersteuerten Kurvenfahrt und zur Stabilisierung eines Fahrzeugs bei einer übersteuerten Kurvenfahrt

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP1250250A1 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2841200A1 (fr) * 2002-06-21 2003-12-26 Delphi Tech Inc Procede et dispositif pour le freinage en courbe d'un vehicule atomobile

Also Published As

Publication number Publication date
JP2003519590A (ja) 2003-06-24
DE10101197A1 (de) 2001-09-06
EP1250250A1 (fr) 2002-10-23

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