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WO2008034660A1 - Procédé de stabilisation contre le tangage de véhicules à moteur - Google Patents

Procédé de stabilisation contre le tangage de véhicules à moteur Download PDF

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Publication number
WO2008034660A1
WO2008034660A1 PCT/EP2007/057677 EP2007057677W WO2008034660A1 WO 2008034660 A1 WO2008034660 A1 WO 2008034660A1 EP 2007057677 W EP2007057677 W EP 2007057677W WO 2008034660 A1 WO2008034660 A1 WO 2008034660A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
risk
tipping
wheels
wheel
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/EP2007/057677
Other languages
German (de)
English (en)
Inventor
Anton Van Zanten
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
Publication of WO2008034660A1 publication Critical patent/WO2008034660A1/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
    • B60T8/17554—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
    • 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
    • B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/03—Overturn, rollover

Definitions

  • the invention relates to a method for reducing the risk of tipping over of a vehicle according to the preamble of patent claim 1, as well as a corresponding device according to the preamble of patent claim 8.
  • Disclosure of the invention It is therefore the object of the present invention to provide a method for reducing the risk of tipping over of a vehicle, which does not affect the direction of travel of the vehicle.
  • An essential aspect of the invention is to brake at least two wheels, which are arranged on different longitudinal sides of the vehicle in the event of a tilt-critical driving condition and to interpret the braking forces on the wheels in such a way that the braking engagement is altogether essentially neutral in terms of torquing torque.
  • the inside front wheel and at the same time the outside rear wheel are braked.
  • both the curve-inward front wheel and the curve-outward rear wheel have comparatively high contact forces, so that the automatic braking intervention on these wheels can best be implemented.
  • the braking forces can therefore be chosen to be relatively large.
  • the vehicle speed and thus also the centrifugal force decrease rapidly.
  • the braking intervention on the selected wheels is preferably controlled;
  • the wheel brake slip is controlled to a desired value.
  • the SoII brake slip for the individual wheels is preferably calculated by means of an algorithm.
  • the desired brake slip values for the curve-inside front wheel and the curve-outside rear wheel result, for example, from the following calculation:
  • HL (0 ⁇ HL' ⁇ HL / ⁇ ⁇ "" B.VR V 0 ⁇ VR ' ⁇ VR /' TT + " ⁇ B, HL ( 0 ⁇ HL ' ⁇ HL / TT
  • the indices VR and HL denote the inside front wheel (here front right) and the rear wheel outside (here rear left).
  • the wheel slip A VR and A HL can z. B. be calculated depending on a difference ⁇ ay between the actual lateral acceleration and a maximum allowable lateral acceleration.
  • ⁇ ay is the excess lateral acceleration, which is to be compensated.
  • the desired lateral acceleration change ⁇ ay for example, the following equation can be used:
  • Equation (3) in conjunction with equation (2) and equation (4) form a system of equations consisting of two equations for two
  • Kp, Ki and K 0 are the selectable P, I and D gain factors.
  • Fig. 1 is a schematic view of a vehicle with a system for tilt stabilization.
  • Fig. 1 shows a schematic view of a vehicle with a system for tilt stabilization, which engages in a critical driving situation by means of the wheel brakes 3a-3d in the driving mode.
  • the system essentially comprises a control device 4 with a tilt stabilization algorithm 5, which constantly monitors the current driving state by means of a sensor 6 with regard to a risk of tipping and engages in the driving operation when certain limit values are exceeded via the wheel brakes 3a-3d.
  • the sensor system 6 preferably comprises a lateral acceleration and a steering wheel angle sensor.
  • z. B. also a roll rate sensor may be provided which measures the roll rate about a longitudinal axis of the vehicle.
  • Algorithm 5 preferably defines an indicator (parameter) that is a measure of the risk of tipping. If this indicator, such as. B. an effective lateral acceleration exceeds a predetermined threshold, an automatic braking intervention on selected wheels 2 a - 2 d of the vehicle is activated.
  • the curve-inward front wheel 2b and the curve-wise rear wheel 2c are braked.
  • the vehicle 1 is traveling a right turn, as can be seen in the position of the front wheels. Therefore, the wheels 2b and 2c are braked.
  • the selection of precisely these wheels 2b, 2c is based, in particular, on the fact that comparatively high contact forces act on these wheels. Relatively high braking forces can thus be exerted on the wheels 2 b, 2 c, which brake the vehicle quickly and reduce the danger of tipping.
  • Algorithm 5 includes a slip control that adjusts a predetermined desired brake slip on the selected wheels 2b, 2c.
  • the setpoint brake slip to be set is calculated in such a way that, overall, a braking intervention is performed which is neutral in terms of yaw moment. This means that there is no additional yaw moment ⁇ M Z around the vertical axis of the vehicle.
  • the desired brake slip values can be calculated, for example, from the system of equations (2 to 4) described above.

Landscapes

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

Abstract

L'invention concerne un procédé pour réduire le danger de tangage d'un véhicule (1), pour lequel un freinage est mis en oeuvre. Si le freinage est mis en oevre au niveau d'au moins deux roues (2a à 2d) agencées sur différents côtés longitudinaux du véhicule (1), il est possible de mettre en oevre le freinage sans influencer le moment de giration, de sorte que le véhicule suit la direction de translation qui était la sienne jusqu'alors.
PCT/EP2007/057677 2006-09-21 2007-07-25 Procédé de stabilisation contre le tangage de véhicules à moteur Ceased WO2008034660A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102006044425.6A DE102006044425B4 (de) 2006-09-21 2006-09-21 Verfahren zur Kippstabilisierung von Kraftfahrzeugen
DE102006044425.6 2006-09-21

Publications (1)

Publication Number Publication Date
WO2008034660A1 true WO2008034660A1 (fr) 2008-03-27

Family

ID=38626423

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2007/057677 Ceased WO2008034660A1 (fr) 2006-09-21 2007-07-25 Procédé de stabilisation contre le tangage de véhicules à moteur

Country Status (2)

Country Link
DE (1) DE102006044425B4 (fr)
WO (1) WO2008034660A1 (fr)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1059216A2 (fr) * 1999-06-08 2000-12-13 Toyota Jidosha Kabushiki Kaisha Appareil de commande de comportement de véhicule et méthode
US20030117013A1 (en) * 2001-12-25 2003-06-26 Akitaka Nishio Brake control device for a vehicle
US20040239179A1 (en) * 2002-08-06 2004-12-02 Tohihisa Kato Motion control device of vehicle
US20050012392A1 (en) * 2003-07-17 2005-01-20 Toshihisa Kato Vehicle motion control device
EP1516800A1 (fr) * 2003-09-17 2005-03-23 Bayerische Motoren Werke Aktiengesellschaft Méthode de compensation d'un moment de lacet d'un véhicule

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1059216A2 (fr) * 1999-06-08 2000-12-13 Toyota Jidosha Kabushiki Kaisha Appareil de commande de comportement de véhicule et méthode
US20030117013A1 (en) * 2001-12-25 2003-06-26 Akitaka Nishio Brake control device for a vehicle
US20040239179A1 (en) * 2002-08-06 2004-12-02 Tohihisa Kato Motion control device of vehicle
US20050012392A1 (en) * 2003-07-17 2005-01-20 Toshihisa Kato Vehicle motion control device
EP1516800A1 (fr) * 2003-09-17 2005-03-23 Bayerische Motoren Werke Aktiengesellschaft Méthode de compensation d'un moment de lacet d'un véhicule

Also Published As

Publication number Publication date
DE102006044425A1 (de) 2008-04-03
DE102006044425B4 (de) 2023-03-16

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