CN101565043B - 横摆稳定性控制*** - Google Patents
横摆稳定性控制*** Download PDFInfo
- Publication number
- CN101565043B CN101565043B CN200910000413.9A CN200910000413A CN101565043B CN 101565043 B CN101565043 B CN 101565043B CN 200910000413 A CN200910000413 A CN 200910000413A CN 101565043 B CN101565043 B CN 101565043B
- Authority
- CN
- China
- Prior art keywords
- steering wheel
- understeer
- stability control
- control system
- angle
- 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.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 claims abstract description 13
- 230000001133 acceleration Effects 0.000 claims description 7
- 230000007423 decrease Effects 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 5
- 238000012886 linear function Methods 0.000 claims description 2
- 230000033228 biological regulation Effects 0.000 description 7
- 230000006870 function Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- 229920006395 saturated elastomer Polymers 0.000 description 2
- 125000000205 L-threonino group Chemical group [H]OC(=O)[C@@]([H])(N([H])[*])[C@](C([H])([H])[H])([H])O[H] 0.000 description 1
- 230000003213 activating effect Effects 0.000 description 1
- 230000001447 compensatory effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
Images
Classifications
-
- 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
- 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
- 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
- B60W30/045—Improving turning performance
-
- 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
- B62D6/008—Control of feed-back to the steering input member, e.g. simulating road feel in steer-by-wire applications
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)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Description
Claims (16)
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP08155182.2A EP2112053B1 (en) | 2008-04-25 | 2008-04-25 | Yaw stability control system |
EP08155182.2 | 2008-04-25 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN101565043A CN101565043A (zh) | 2009-10-28 |
CN101565043B true CN101565043B (zh) | 2013-07-17 |
Family
ID=39743830
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN200910000413.9A Expired - Fee Related CN101565043B (zh) | 2008-04-25 | 2009-01-06 | 横摆稳定性控制*** |
Country Status (3)
Country | Link |
---|---|
US (1) | US8073608B2 (zh) |
EP (1) | EP2112053B1 (zh) |
CN (1) | CN101565043B (zh) |
Families Citing this family (51)
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DE102009002710B4 (de) * | 2009-04-29 | 2021-01-28 | Robert Bosch Gmbh | Verfahren zur Ermittlung eines Untersteuerverhaltens eines Kraftfahrzeugs |
US8521357B2 (en) * | 2010-04-26 | 2013-08-27 | Nissan North America, Inc. | Impaired operation detection method |
DE102010036619B4 (de) * | 2010-07-26 | 2020-08-27 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Verfahren zum Betreiben eines Lenksystems |
EP2426030B1 (en) * | 2010-08-11 | 2012-12-05 | ThyssenKrupp Presta AG | Steering control apparatus for vehicle and steering control method |
KR101936432B1 (ko) * | 2012-06-05 | 2019-01-08 | 현대자동차주식회사 | 토크컨버터 미 적용차량의 진동저감을 위한 휴리스틱로직 단순화 방법 |
US9376107B2 (en) * | 2013-01-11 | 2016-06-28 | Nissan Motor Co., Ltd. | Vehicle travel control apparatus and vehicle travel control method |
DE102014204461B4 (de) * | 2013-05-14 | 2018-10-31 | Ford Global Technologies, Llc | Verfahren zur Verbesserung des Geradeauslaufs eines Fahrzeugs |
FR3006277B1 (fr) * | 2013-06-04 | 2017-02-17 | Jtekt Europe Sas | Utilisation d’un moteur d’assistance de direction pour simuler une butee de fin de course de ladite direction |
GB201314795D0 (en) * | 2013-08-19 | 2013-10-02 | Jaguar Land Rover Ltd | Driveline and method of controlling a driveline |
EP3057848B1 (en) | 2013-10-16 | 2018-04-11 | Sentient AB | Method in order to control vehicle behaviour |
KR101519762B1 (ko) | 2013-12-27 | 2015-05-12 | 현대자동차주식회사 | 전동식 파워 스티어링 장치의 랙 벤딩 프릭션 보상 시스템 및 방법 |
US9827992B2 (en) * | 2014-03-19 | 2017-11-28 | Ford Global Technologies, Llc | Driver anomaly detection |
GB2527526B (en) * | 2014-06-24 | 2017-12-06 | Jaguar Land Rover Ltd | Controlling the stability of a vehicle |
CN104773170B (zh) * | 2015-04-28 | 2017-03-29 | 吉林大学 | 一种车辆稳定性集成控制方法 |
US9718465B2 (en) * | 2015-07-23 | 2017-08-01 | Ford Global Technologies, Llc | Bicycle stability control methods and systems |
WO2017030774A1 (en) | 2015-08-14 | 2017-02-23 | Crown Equipment Corporation | Model based diagnostics based on steering model |
KR102389057B1 (ko) * | 2015-09-07 | 2022-04-22 | 주식회사 만도 | 조향 제어 장치 및 조향 제어 방법 |
KR101694763B1 (ko) * | 2015-10-06 | 2017-01-10 | 주식회사 만도 | 조향 제어 장치 및 조향 제어 방법 |
CN105172790B (zh) * | 2015-10-30 | 2017-09-12 | 吉林大学 | 一种基于三步法的车辆横摆稳定性控制方法 |
US10858040B2 (en) * | 2016-02-05 | 2020-12-08 | Sentient Ip Ab | Method for the control of vehicle steering and vehicle behaviour |
CN106004870B (zh) * | 2016-06-23 | 2018-06-12 | 吉林大学 | 一种基于变权重模型预测算法的车辆稳定性集成控制方法 |
JP6617654B2 (ja) * | 2016-07-15 | 2019-12-11 | 株式会社デンソー | 車両の運転支援装置 |
DE102016214925A1 (de) * | 2016-08-11 | 2018-02-15 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Betreiben eines Kraftfahrzeugs, Kraftfahrzeug |
CA3041343A1 (en) * | 2017-01-13 | 2018-07-19 | Crown Equipment Corporation | High speed straight ahead tiller desensitization |
US10442427B2 (en) * | 2017-01-23 | 2019-10-15 | GM Global Technology Operations LLC | Vehicle dynamics actuator control systems and methods |
CN108860137B (zh) * | 2017-05-16 | 2020-06-26 | 华为技术有限公司 | 失稳车辆的控制方法、装置及智能车辆 |
GB2565346B (en) | 2017-08-11 | 2020-02-26 | Jaguar Land Rover Ltd | Control system for a steer-by-wire steering system |
US10752287B2 (en) * | 2017-10-03 | 2020-08-25 | Toyota Jidosha Kabushiki Kaisha | Steer-by-wire system |
JP6844500B2 (ja) * | 2017-10-30 | 2021-03-17 | トヨタ自動車株式会社 | 車両の挙動制御装置 |
JP7106843B2 (ja) * | 2017-11-17 | 2022-07-27 | トヨタ自動車株式会社 | 車両安定制御装置 |
CN108437980B (zh) * | 2018-03-06 | 2019-08-02 | 哈尔滨工业大学 | 一种基于饱和自适应的车辆横摆稳定控制方法 |
US10800446B2 (en) * | 2018-05-01 | 2020-10-13 | Ford Global Technologies, Llc | Methods and apparatus to modify steering assist of a hydraulic power steering system |
KR102048185B1 (ko) * | 2018-06-22 | 2019-11-25 | 현대모비스 주식회사 | 전동식 조향장치의 비상 조향장치 및 방법 |
CN109050659B (zh) * | 2018-07-06 | 2020-09-18 | 长春工业大学 | 一种基于时变动力学模型的四轮转向汽车稳定性控制方法 |
CN109050658B (zh) * | 2018-07-06 | 2020-09-18 | 长春工业大学 | 基于模型预测控制的汽车主动前轮转向自适应调节方法 |
US20200017139A1 (en) * | 2018-07-12 | 2020-01-16 | Steering Solutions Ip Holding Corporation | Rack force estimation for steering systems |
FR3083771B1 (fr) * | 2018-07-13 | 2021-01-15 | Jtekt Europe Sas | Ponderation d’une application d’une fonction d’assistance dans un systeme de direction assistee d’un vehicule |
CN109278850B (zh) * | 2018-10-16 | 2020-09-15 | 北京汽车股份有限公司 | 转向助力控制方法、***及汽车 |
KR20200046792A (ko) * | 2018-10-25 | 2020-05-07 | 현대자동차주식회사 | Mdps 제어 방법 |
CN110562318B (zh) * | 2018-11-26 | 2021-09-28 | 长城汽车股份有限公司 | 用于车辆的辅助控制***及方法 |
US10988170B2 (en) * | 2018-12-11 | 2021-04-27 | Continental Automotive Systems, Inc. | Driver steer recommendation upon loss of one brake circuit of a diagonal spilt layout |
IT201800021244A1 (it) * | 2018-12-27 | 2020-06-27 | Fiat Ricerche | Sistema elettronico autoveicolistico di controllo della dinamica laterale di un autoveicolo |
US20200331520A1 (en) * | 2019-04-19 | 2020-10-22 | Steering Solutions Ip Holding Corporation | Providing assist torque in steering systems operating without a torque sensor |
DE102019206980B4 (de) * | 2019-05-14 | 2023-06-22 | Volkswagen Aktiengesellschaft | Verfahren und Lenkungssteuergerät zum Ermitteln einer Stellgröße für das Einstellen eines Servolenkmoments bei einem Fahrzeuglenksystem |
DE102020202462A1 (de) * | 2019-06-12 | 2020-12-17 | Robert Bosch Gesellschaft mit beschränkter Haftung | Verfahren zur Antriebsoptimierung in einem Kraftfahrzeug |
CN112441114B (zh) * | 2019-09-03 | 2022-03-18 | 博世华域转向***有限公司 | 一种力矩传感器失效时的方向盘手力计算方法 |
US11654956B2 (en) * | 2019-12-23 | 2023-05-23 | Robert Bosch Gmbh | Method and system for steering intervention by electronic power steering unit to prevent vehicle rollover or loss of control |
CN111186481A (zh) * | 2020-01-23 | 2020-05-22 | 中国公路车辆机械有限公司 | 商用车eps的丝杠末端保护方法 |
US11608089B2 (en) * | 2020-11-09 | 2023-03-21 | GM Global Technology Operations LLC | Method and apparatus for automated lateral controls adaptation in response to rapid trajectory changes |
CN112660108B (zh) * | 2020-12-25 | 2022-11-08 | 浙江吉利控股集团有限公司 | 一种四驱扭矩预控方法及装置 |
CN113753127A (zh) * | 2021-10-25 | 2021-12-07 | 蔚来汽车科技(安徽)有限公司 | 车辆及其控制方法、控制装置、车载设备、介质 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5316379A (en) * | 1990-11-29 | 1994-05-31 | Robert Bosch Gmbh | Vehicle with an antilock controller |
DE102005012548A1 (de) * | 2004-04-08 | 2006-02-16 | Continental Teves Ag & Co. Ohg | Verfahren und Lenkvorrichtung zum Erhöhen der Fahrstabilität eines Fahrzeugs während der Fahrt durch eine Kurve |
WO2006087141A1 (de) * | 2005-02-16 | 2006-08-24 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Stabilisierungsvorrichtung und verfahren zur fahrstabilisierung eines fahrzeugs anhand eines seitenkrafbeiwerts |
DE102007020169A1 (de) * | 2006-04-27 | 2007-10-31 | Continental Teves Ag & Co. Ohg | Verfahren und Vorrichtung zum Ermitteln eines optimalen Lenkwinkels in Untersteuersituationen eines Fahrzeugs |
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US5141069A (en) * | 1988-09-13 | 1992-08-25 | Aisin Seiki Kabushiki Kaisha | Steering mechanism with toe-in control |
US5388658A (en) * | 1991-12-02 | 1995-02-14 | Imra America, Inc. | Integrated torque and steering control system |
JP3034430B2 (ja) * | 1994-07-27 | 2000-04-17 | 本田技研工業株式会社 | 車両用操舵装置の操舵反力制御装置 |
US5648903A (en) * | 1995-07-10 | 1997-07-15 | Ford Global Technologies, Inc. | Four wheel steering control utilizing front/rear tire longitudinal slip difference |
DE19548713C1 (de) * | 1995-12-23 | 1997-05-07 | Daimler Benz Ag | Lenkwinkelstelleinrichtung für ein Kraftfahrzeug |
DE19650691C2 (de) * | 1996-12-07 | 1998-10-29 | Deutsch Zentr Luft & Raumfahrt | Verfahren zur Lenkunterstützung eines Fahrers eines Straßenfahrzeugs |
JP3348619B2 (ja) * | 1997-03-04 | 2002-11-20 | トヨタ自動車株式会社 | 車輌の挙動制御装置 |
JP4231910B2 (ja) * | 2000-04-25 | 2009-03-04 | 日産自動車株式会社 | 車線維持装置 |
DE10052343A1 (de) * | 2000-10-21 | 2002-07-11 | Bosch Gmbh Robert | Verfahren zum Steuern eines Steerby-Wire-Lenksystems |
DE10102002A1 (de) * | 2001-01-18 | 2002-07-25 | Bosch Gmbh Robert | Verfahren und Vorrichtung zum Koordinieren von Eingriffen in das Fahrverhalten eines Fahrzeugs |
US7032705B2 (en) * | 2004-02-27 | 2006-04-25 | Visteon Global Technologies, Inc. | Oversteering/understeering compensation with active front steering using steer by wire technology |
US8380416B2 (en) * | 2004-03-18 | 2013-02-19 | Ford Global Technologies | Method and apparatus for controlling brake-steer in an automotive vehicle in reverse |
US7229139B2 (en) * | 2004-03-18 | 2007-06-12 | Ford Global Technologies, Llc | Control system for brake-steer assisted parking and method therefor |
US7070247B2 (en) * | 2004-03-18 | 2006-07-04 | Ford Global Technologies, Llc | Method and apparatus for controlling brake-steer in an automotive vehicle in a forward and reverse direction |
JP4269994B2 (ja) * | 2004-03-25 | 2009-05-27 | 三菱ふそうトラック・バス株式会社 | 車両のステア特性制御装置 |
US7349778B2 (en) * | 2004-06-09 | 2008-03-25 | General Motors Corporation | Real-time vehicle dynamics estimation system |
JP4501568B2 (ja) * | 2004-07-14 | 2010-07-14 | 株式会社アドヴィックス | 車両の姿勢制御装置 |
JP4680977B2 (ja) * | 2007-12-18 | 2011-05-11 | 本田技研工業株式会社 | 車両の挙動制御装置 |
-
2008
- 2008-04-25 EP EP08155182.2A patent/EP2112053B1/en active Active
-
2009
- 2009-01-06 CN CN200910000413.9A patent/CN101565043B/zh not_active Expired - Fee Related
- 2009-04-24 US US12/429,207 patent/US8073608B2/en active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5316379A (en) * | 1990-11-29 | 1994-05-31 | Robert Bosch Gmbh | Vehicle with an antilock controller |
DE102005012548A1 (de) * | 2004-04-08 | 2006-02-16 | Continental Teves Ag & Co. Ohg | Verfahren und Lenkvorrichtung zum Erhöhen der Fahrstabilität eines Fahrzeugs während der Fahrt durch eine Kurve |
WO2006087141A1 (de) * | 2005-02-16 | 2006-08-24 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Stabilisierungsvorrichtung und verfahren zur fahrstabilisierung eines fahrzeugs anhand eines seitenkrafbeiwerts |
DE102007020169A1 (de) * | 2006-04-27 | 2007-10-31 | Continental Teves Ag & Co. Ohg | Verfahren und Vorrichtung zum Ermitteln eines optimalen Lenkwinkels in Untersteuersituationen eines Fahrzeugs |
Also Published As
Publication number | Publication date |
---|---|
EP2112053B1 (en) | 2015-08-12 |
US20090271074A1 (en) | 2009-10-29 |
EP2112053A1 (en) | 2009-10-28 |
US8073608B2 (en) | 2011-12-06 |
CN101565043A (zh) | 2009-10-28 |
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