CN102407847A - Severeness subscript forming method for vehicle, involves acquiring steering angle velocity, and forming difference between acquired steering angle velocity and constant and severeness subscript by integrating difference over time - Google Patents
Severeness subscript forming method for vehicle, involves acquiring steering angle velocity, and forming difference between acquired steering angle velocity and constant and severeness subscript by integrating difference over time Download PDFInfo
- Publication number
- CN102407847A CN102407847A CN2011102485361A CN201110248536A CN102407847A CN 102407847 A CN102407847 A CN 102407847A CN 2011102485361 A CN2011102485361 A CN 2011102485361A CN 201110248536 A CN201110248536 A CN 201110248536A CN 102407847 A CN102407847 A CN 102407847A
- Authority
- CN
- China
- Prior art keywords
- vehicle
- severity index
- severeness
- subscript
- severity
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 32
- 230000000087 stabilizing effect Effects 0.000 claims abstract description 13
- 230000032696 parturition Effects 0.000 claims description 3
- 230000010354 integration Effects 0.000 claims description 2
- 230000001133 acceleration Effects 0.000 description 13
- 230000008859 change Effects 0.000 description 12
- 238000001514 detection method Methods 0.000 description 9
- 230000006399 behavior Effects 0.000 description 6
- 238000005259 measurement Methods 0.000 description 6
- 238000006243 chemical reaction Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000008485 antagonism Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008014 freezing Effects 0.000 description 1
- 238000007710 freezing Methods 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 230000007306 turnover 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
- B62D6/006—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 using a measured or estimated road friction coefficient
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- 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
- B62D6/002—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
- B60T2260/00—Interaction of vehicle brake system with other systems
- B60T2260/02—Active Steering, Steer-by-Wire
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0008—Feedback, closed loop systems or details of feedback error signal
- B60W2050/001—Proportional integral [PI] controller
-
- 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
- B60W2520/10—Longitudinal speed
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The method involves acquiring steering angle velocity, and forming difference between the acquired velocity (wL) and a constant (F). A severeness subscript (S) is formed by integrating a difference over time, where a range of values of the severeness subscript (S) is limited by lower limits. The constant represents speed decrease per time unit, and the vehicle velocity includes the severeness subscript that indicates severeness of an over-steering process in a driving maneuver. Guiding velocity is detected by an over-steering detecting unit of a dynamic landing gear control system. An independent claim is also included for a method for stabilizing a vehicle during over-steering.
Description
Technical field
The present invention relates to a kind of formation in the expression driver behavior and cross the method for the severity index that turns over the journey order of severity, and served as the method for transmitting the vehicle that stabilizes when giving birth to.
Background technology
Under the condition of dynamic driving, the stability of vehicle chassis is very high to vehicle driver's requirement usually.Extreme speed, weather effect (through raining or freezing to make the road surface wet and slippery), and the urgent intervention that needs when in danger all make general navigating mate or fatigue driving person overwork.Therefore except anti-lock braking system, developed the Study on Vehicle Dynamic Control system, it can or be crossed under the situation of changeing in the Vehicular turn deficiency, resists through the particular selecting property brake to individual wheel to turn to.Further, system can pro-active intervention Vehicular turn, the i.e. extra correction handling maneuver of stack on driver's handling maneuver.Because hydraulic pressure or pneumatic servo device need increase technological funds, therefore for reaching this purpose, vehicle has at least one electrically operated servomechanism that turns to.In addition, vehicle also can be handled so-called active steering.This system extra angle that can on driver's steering angle, superpose.
The trend of crossing commentaries on classics (oversteer) and be the Vehicular turn curve is than the steeper anxious situation of driver's expection, thereby the vehicle afterbody possibly throw away the curve outside, thereby the rotation of vehicle afterbody takes place when trailing wheel loses its side-friction force.
DE 19832484A relates to a kind of detection side to be changeed method and the device of deviation and is a kind ofly crossing the stabilize method and the device of vehicle of turning operating period of changeing to mistake.Said method comprises: judge it according to the wheel speed signal value of several wheels and take turns speed; Judge the slip value of these several wheels; And in the slip value that consideration these several is judged, survey and turn, at least one in these wheel speed signal values and the slip value made even all or quadratured on one section brachistochrone (250 to 500ms).Therefore, through considering wheel slip value and/or the detectable commentaries on classics state of appearing of lateral acceleration value.Can be through operation that the suitable intervention of brake system is stabilized.
DE 4123235C discloses a kind of method and device that prevents vehicle behavior unstability; Form desirable Vehicular yaw angular rate value according to observed reading (being car speed and steering wheel angle degree), and survey the Vehicular yaw angular rate value of judging reality according at least one sensor signal.If cross change one's profession into, the brake pressure that then is positioned at the vehicle front-wheel in the curve outside increases; If the understeer behavior, the brake pressure that then is positioned at the inboard vehicle rear wheel of curve increases.
DE 60213215T2 discloses a kind of wheel steering system, comprising: be used to judge whether vehicle is living through the commentaries on classics estimating device excessively of commentaries on classics situation; Be used to judge the steering controlling device of compensating torque, thereby it reduced the commentaries on classics state in order to assist the driver that Vehicular yaw speed is reduced to zero; And cross the commentaries on classics state in case the active device of confirming to be triggered, thereby it is in order to carry out being fade-in and gradually going out to make to put on the driver and turn to the additional torque request on the request to be able to seamlessly transit of compensating torque.A kind of algorithm also is provided, can have utilized result of a measurement the automobile dynamic quality situation, with the vehicle of confirming to stabilize when changeing suitable turn to correction, this turns to correction to use to vehicle through the standard power steering swivel system.Crossing changes estimating device and is suitable for according to yaw velocity measured or that extrapolate and/or lateral acceleration and/or steering wheel angle degree and/or lateral acceleration and/or slip angle, calculates vehicle estimating of tendency took place to change.Survey steering wheel angle degree or steer wheel position only for carrying out with the steering operation of the relevant dynamical parameter of vehicle (like lateral acceleration or Vehicular yaw speed) as initializaing variable.
Yet crossing according to vehicle associated dynamic parameter detection changes or that understeer caused was stable not normal and make corresponding reaction, usually late.Thus; The deviation of wrong parameter is relatively large with the countermeasures of initial usefulness; And rank (overstepping) are inevitable usually more; Thereby make vehicle before countermeasures plays a role, just to de-orbit, and this moment, material alterations took place in the Pilotage en Force situation, must take appropriate reaction to this new change.For this reason, expectation can detect commentaries on classics as early as possible.
Summary of the invention
The objective of the invention is to realize a kind of can cross to change to vehicle carry out early detection and the device of estimating.Another object of the present invention is to realize a kind of being used at the favorable method of crossing the vehicle that stabilizes when forwarding is given birth to.
Reach first purpose through forming the method for crossing the severity index that turns over the journey order of severity in the expression driver behavior, according to claim 1; Through reaching second purpose, of claim 6 in the method for crossing the vehicle that stabilizes when forwarding is given birth to.Dependent claims has comprised that various favourable structure of the present invention establishes.
According to the present invention, form the method for crossing the severity index (S) that turns over the journey order of severity in the expression driver behavior and may further comprise the steps:
At least survey deflection angle speed (ω
L);
Judge the deflection angle speed (ω that is surveyed
L) poor with constant (F); And
Through asking said difference integration in time to form said severity index (S).
The formed severity index of inventive method according to the present invention can be the more suitable tolerance of representing to turn over the journey order of severity (gravity degree).Because it provides the early stage deflection angle speed that characterizes of journey that turned over based on detection, therefore in chassis control system, can start with judged cross the suitable early stage countermeasures of commentaries on classics severity.Therefore,, can change the degree of incident, thereby increase the driving safety under the emergency running state in the serious mistake of early stage minimizing by means of the severity index.
Advantageously, the value of severity index range limited in lower limit, thus can avoid the severity index critical value even negative value to occur.Particularly, this lower limit can be zero, under this situation the severity index is only forbidden negative value.Yet this lower limit also can be the value greater than zero, under this situation, also will forbid having represented the severity exponential quantity of the critical order of severity that need not to intervene chassis control system.In addition, lower limit makes the quick judgement of severity index become possibility.
Particularly, on behalf of the speed of unit time, said constant can reduce (gradual change constant).Thus, it can be as the adjusting parameter of the sensitieness of regulating the severity index.High constant value only could produce bigger severity exponential quantity under extreme vehicle operating situation, even and the subnormal period value also can produce higher severity exponential quantity under the normal running of vehicle.
Except deflection angle speed, the severity index also can be considered car speed, because the danger of steering operation also depends on car speed.
Can also realize a kind of method of transmitting the vehicle that stabilizes when giving birth to that served as according to the present invention.In the method, judge the severity index according to the inventive method of formation severity index of the present invention.Then carry out the measure of stabilizing based on the severity index of being judged.Especially, can influence the parameter of the measure of stabilizing based on the severity index of being judged.
The measure of stabilizing can comprise to be carried out controlled intervention and/or vehicle is carried out controlled brake Vehicular turn.If as the measure of stabilizing, taken place then can select the measure of stabilizing based on the severity index of being judged to the controlled intervention of Vehicular turn or to the controlled brake of vehicle.If as the measure of stabilizing, all taken place to the controlled intervention of Vehicular turn with to the controlled brake of vehicle, then can coordinate controlled intervention and controlled brake based on the severity index of being judged to turning to.
Description of drawings
Followingly exemplary embodiment is specifically described, thereby can make other characteristics of the present invention, characteristics and advantage more clear understandable with reference to accompanying drawing.
Shown in Figure 1ly be highly schematically vehicle dynamic chassis control system;
Shown in Figure 2 is the diagram of circuit of method of the present invention;
Be respectively that tire adhesion force is surveyed when good, that judged and curvilinear trend desirable parameter shown in Fig. 3 A to Fig. 3 C;
Be respectively that tire adhesion force is surveyed when relatively poor, that judged and curvilinear trend desirable parameter shown in Fig. 4 A to Fig. 4 D.
The specific embodiment
This exemplary embodiment starts from the PDCC of vehicle; It comprises that at least one crosses a commentaries on classics detector 10 and a power steering device 11 (for example can produce the power steering device or the active steering device of thrust); As shown in Figure 1, wherein steering connecting rod 12 acts on the wheel 13 that can turn to.Commentaries on classics detector 10 was set to survey turning velocity at least.Turning velocity (being the direct tolerance of vehicle driver's used dynamics when Vehicular turn is gone into bent angle) by direct detection be vehicle cross change one's profession into the source, not through surveying the deviation that produces such as vehicle parameters such as lateral acceleration or yaw velocity.Thereby can realize more early and technical easier detection crossing the error that occurs in the commentaries on classics.The detection of turning velocity can be carried out on some movable parts of steering connecting rod.This movable part of steering connecting rod 12 can be the for example parts of steering column, steering gear, intermediate rod or binding steering connecting rod, or directly is steered wheel.Because all steering connecting rod parts all link each other, therefore the difference to the detection of different steering connecting rod parts is merely a factor, and this factor should be included consideration in.
For example, can detect the turning velocity (being cireular frequency) of the handling maneuver of driver's enforcement with angular sensor.As substituting or replenishing, can detect the turning velocity (being translatory velocity) of the handling maneuver of driver's enforcement with the motion of translation sensor.Angular sensor and/or motion of translation sensor can link through parts of non-enthusiasm (nonpositive) mechanical connection portion or noncontact connecting part and steering connecting rod.
The form that produces the power steering device 11 of thrust can be the system that comprises electricity and/or hydraulic pressure and/or pressure system parts.
According to the present invention, proposed a kind of according to crossing the method that the order of severity (gravity degree) of changeing quantized commentaries on classics.For reaching this purpose, in chassis control system 14 or aim at and judge the severity index in the add-on module of judging the order of severity and establishing, available then this severity index produces crosses the antagonism effect of commentaries on classics corresponding to this.For example, the severity index of being judged is used in and can be used for adjusting gradient magnitude and/or accelerating vehicle in the chassis control system 14, perhaps is used in to be used in the power steering device 11 carrying out controlled intervention to turning to.
The diagram of circuit that the preferred structure of the method for judgement severity index of the present invention shown in Figure 2 is established.
Among the first program step S1 after beginning, for example judge vehicle driver's handling maneuver, as the angular velocity omega of steered wheel about the time through angular sensor
L
In next program step S2, (be the steered wheel angular velocity omega that is detected as handling maneuver with severity index S
L) function calculate severity index S according to following mathematical relation:
S(t)＝∫(ω
L-F)dt，
Wherein
S (t) expression severity index,
ω
LThe expression steered wheel is about the cireular frequency of time,
F is the gradual change constant.
For example, gradual change constant F is used for before the step S3 that severity index S is applied to chassis or steering control system, regulating its sensitieness.
In addition, the severity index for fear of negative has used severity index (S) lower limit in this exemplary embodiment.Its value is zero, so actual severity index is drawn by following formula:
S(t)＝max(S(t)，0)
Surveyed when being respectively tire adhesion force good (for example on dry pitch, this moment, coefficientoffriction was higher) shown in Fig. 3 A to 3C, curvilinear trend 1,2,3,4,5 that judged and desirable parameter and the severity index 6 that calculates.
Fig. 3 A to 3C illustrates respectively along twice of time shaft t (employing abscissa) continuous commentaries on classics incident I and II excessively.In each incident; What correlation was drawn on ordinate is desirable yaw speed 1 and the yaw speed of measuring 2; Unit is per second/angle, and the deviation of the yaw speed of measurement is greater than desirable yaw speed, because the latter has reached the result of the present invention about the target of surveying the counteracting of changeing.Simultaneously, illustrate the lateral acceleration 3 of the measurement of time correlation, this lateral acceleration uses the m/s of unit of acceleration/accel
2With this degree, the absolute deviation of its desired value is as shown in the figure not too obvious.But illustrating the time trend of each parameter, is in order to assess shifting to an earlier date relatively or hysteresis between each parameter.
In order to show more clearly, except upper curve trend, each accompanying drawing also shows lower curve trend, uses same temporal correlation further to illustrate some parameters in the lower curve trend.Wherein at first be to judge the index of commentaries on classics severity excessively 6 (or the S) that change 4, measure lateral acceleration 5 and judge according to the present invention.
Twice continuous I of commentaries on classics incident excessively is relevant with two kinds of steering directions respectively with II; If promptly first cross commentaries on classics incident I and left hand curvilinear correlation, the second mistake commentaries on classics incident II is then relevant with right hand curve so.
Survey when being respectively tire adhesion force relatively poor (for example on the compacting snow that skids, this moment, coefficientoffriction was lower) shown in Fig. 4 A to Fig. 4 D be, judge it is curvilinear trend 1,2,3,4,5,6 with desirable parameter.
The diagram similar above of these parameters is said with reference to Fig. 3 A to Fig. 3 C.But different with it is to judge that changeing 4 was zero.But even tire adhesion force is relatively poor, it also is possible will surveying and represent in theory to change, even therefore judged that changeing 4 also can show.
But, from all these graphic curvilinear trends, draw an important discovery, the severity index of promptly judging according to the present invention 6 had reacted crosses this fact of the order of severity of changeing, even and this truely under the tire adhesion force condition of different, also will keep always.
Compare, lateral acceleration 5 more or less overlaps with each turning operation in time.Therefore, the invention has the advantages that severity index of judging according to the present invention 6 or the detection of S are in time early than using the commentaries on classics of carrying out such as vehicle parameters such as lateral acceleration or yaw speed of crossing to survey.Therefore, can be in period more early, countermeasures that chassis control system is used according to the present invention the signal relevant with severity index 6, suitable to start (against the steering effort form), thus higher driving safety is provided under extreme situation.In addition, can quantize severity index 6 according to the present invention, so as according to the difficulty of crossing the incident of changeing calculate reverse to power.
The severity index S that judges is adequate measures for the actual driver behavior order of severity.This index can be used for various objectives.For example, it can be used for influencing parameter, for example has the parameter in the chassis control system 14 of changeing control system.Therefore, in such control system, it can for example adjust coefficient of amplification.Offset the commentaries on classics control system excessively of commentaries on classics if there are two arranged side by side being used to; Electronic stability program) or EPAS (Electronic Power Assisted Steering: electronic power assist steering) ESP (Electronic Stability Program: for example; Severity index S can be used for coordinating the steering engagement of these two systems so; Thereby under the intervention of two systems is assisted, reach the target of the vehicle that stabilizes of expection.Yet, alternatively, and if exist conversion to stabilize vehicle from a control system to another, for example carry out the transition to the ESP system from EPAS, also possibly have the conversion from a system to another according to severity index S.For this purpose, possibly have a predetermined correlative value that for example is used for the severity index, the conversion from a system to another system will take place as lower threshold value in case be higher than this threshold value in it.
The Reference numeral complete list
I, II cross the commentaries on classics incident, and a left side is with right
1 desirable yaw speed
The yaw speed of 2 measurements
The lateral acceleration of 3 measurements
The yaw acceleration/accel of 4 measurements
5 cross the commentaries on classics order of severity
Crossing of 6 judgements changeed
10 cross the commentaries on classics detector
11 power steering devices
12 steering connecting rods
13 steerable vehicle wheels
14 chassis control systems
F gradual change constant
The μ friction coefficient
The S order of severity
The S1...S3 program step
The t time shaft
ω
LThe cireular frequency of steered wheel
Claims (10)
1. one kind forms the method for crossing the severity index (S) that turns over the journey order of severity in the expression vehicle operating, may further comprise the steps:
At least survey deflection angle speed (ω
L);
Judge the deflection angle speed (ω that is surveyed
L) poor with constant (F); And
Through asking said difference integration in time to form said severity index (S).
2. the method for claim 1, the value of wherein said severity index (S) range limited in lower limit.
3. method as claimed in claim 2, wherein said lower limit are zero.
4. like any described method in the claim 1 to 3, on behalf of the speed in the unit time, wherein said constant reduce.
5. like any described method in the claim 1 to 4, wherein said car speed is the part of said severity index (S).
6. method that has served as the vehicle that stabilizes when transmit giving birth to wherein as each saidly judges said severity index (S) in the claim 1 to 5, and is carried out the measure of stabilizing based on the said severity index of being judged (S).
7. method as claimed in claim 6 is wherein based on the parameter of the said measure of stabilizing of the said severity index (S) judged influence.
8. like claim 6 or 7 described methods, the wherein said measure of stabilizing comprises to be carried out controlled intervention and/or said vehicle is carried out controlled brake said Vehicular turn.
9. method as claimed in claim 8 wherein, when taking place as the said measure of stabilizing to the controlled intervention of said Vehicular turn or to the controlled brake of said vehicle, is selected the said measure of stabilizing based on the said severity index of being judged (S).
10. method as claimed in claim 8; Wherein, When all taking place as the said measure of stabilizing, coordinate said to said said controlled intervention that turns to and said controlled brake based on the said severity index of being judged (S) to the controlled intervention of said Vehicular turn with to the controlled brake of said vehicle.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102010037417.2 | 2010-09-09 | ||
| DE201010037417 DE102010037417B3 (en) | 2010-09-09 | 2010-09-09 | Severeness subscript forming method for vehicle, involves acquiring steering angle velocity, and forming difference between acquired steering angle velocity and constant and severeness subscript by integrating difference over time |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102407847A true CN102407847A (en) | 2012-04-11 |
| CN102407847B CN102407847B (en) | 2016-03-09 |
Family
ID=44924947
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110248536.1A Active CN102407847B (en) | 2010-09-09 | 2011-08-26 | Form the method representing and cross in driving and turn over the Severity Index of the journey order of severity |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN102407847B (en) |
| DE (1) | DE102010037417B3 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109204449A (en) * | 2017-07-07 | 2019-01-15 | 株式会社捷太格特 | Steering apparatus |
| CN111325869A (en) * | 2018-12-13 | 2020-06-23 | 厦门雅迅网络股份有限公司 | Vehicle fatigue driving accurate judgment method, terminal device and storage medium |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102013200024A1 (en) * | 2013-01-02 | 2014-07-03 | Bayerische Motoren Werke Aktiengesellschaft | Counter-steering assistant unit for motor car, generates steering torque upon detection of rapid increase yaw movement, where counter-steering is configured such that oscillating movement of rear portion of motor car is actively damped |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5341297A (en) * | 1991-07-13 | 1994-08-23 | Mercedes-Benz Ag | Apparatus and method for preventing instabilities in vehicle handling |
| JPH10287146A (en) * | 1997-04-16 | 1998-10-27 | Unisia Jecs Corp | Vehicle motion control device |
| US6580995B1 (en) * | 1998-02-07 | 2003-06-17 | Continental Teves Ag & Co., Ohg | Method and device for recognizing cornering and for stabilizing a vehicle in case of over-steered cornering |
| US20040046447A1 (en) * | 2000-11-03 | 2004-03-11 | Peter Wanke | Method for regulating the driving stability of a vehicle |
| CN1948066A (en) * | 2005-10-13 | 2007-04-18 | 丰田自动车株式会社 | Vehicle with different level of devices for inhibiting over steering or insufficient steering |
| WO2009022014A1 (en) * | 2007-08-16 | 2009-02-19 | Continental Teves Ag & Co. Ohg | System and method for stabilizing a motor vehicle |
| CN101423063A (en) * | 2007-10-30 | 2009-05-06 | 福特全球技术公司 | Vehicle stability control, that reduces the speed of the vehicle to correct oversteer/understeer |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19832484A1 (en) * | 1998-02-07 | 1999-08-12 | Itt Mfg Enterprises Inc | Method and device for recognizing cornering, in particular oversteered cornering and for stabilizing a vehicle during oversteered cornering |
| GB0106924D0 (en) * | 2001-03-20 | 2001-05-09 | Lucas Industries Ltd | Oversteer steering assistance controller |
-
2010
- 2010-09-09 DE DE201010037417 patent/DE102010037417B3/en active Active
-
2011
- 2011-08-26 CN CN201110248536.1A patent/CN102407847B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5341297A (en) * | 1991-07-13 | 1994-08-23 | Mercedes-Benz Ag | Apparatus and method for preventing instabilities in vehicle handling |
| JPH10287146A (en) * | 1997-04-16 | 1998-10-27 | Unisia Jecs Corp | Vehicle motion control device |
| US6580995B1 (en) * | 1998-02-07 | 2003-06-17 | Continental Teves Ag & Co., Ohg | Method and device for recognizing cornering and for stabilizing a vehicle in case of over-steered cornering |
| US20040046447A1 (en) * | 2000-11-03 | 2004-03-11 | Peter Wanke | Method for regulating the driving stability of a vehicle |
| CN1948066A (en) * | 2005-10-13 | 2007-04-18 | 丰田自动车株式会社 | Vehicle with different level of devices for inhibiting over steering or insufficient steering |
| WO2009022014A1 (en) * | 2007-08-16 | 2009-02-19 | Continental Teves Ag & Co. Ohg | System and method for stabilizing a motor vehicle |
| CN101423063A (en) * | 2007-10-30 | 2009-05-06 | 福特全球技术公司 | Vehicle stability control, that reduces the speed of the vehicle to correct oversteer/understeer |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109204449A (en) * | 2017-07-07 | 2019-01-15 | 株式会社捷太格特 | Steering apparatus |
| CN109204449B (en) * | 2017-07-07 | 2022-07-26 | 株式会社捷太格特 | Steering control device |
| CN111325869A (en) * | 2018-12-13 | 2020-06-23 | 厦门雅迅网络股份有限公司 | Vehicle fatigue driving accurate judgment method, terminal device and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102010037417B3 (en) | 2011-12-01 |
| CN102407847B (en) | 2016-03-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6799092B2 (en) | Rollover stability control for an automotive vehicle using rear wheel steering and brake control | |
| US8775048B2 (en) | Method and apparatus for determining a reference vehicle velocity and a rear wheel speed in a vehicle having three speed sensors | |
| JP4926715B2 (en) | Method and apparatus for assisting a vehicle operator in stabilizing a vehicle | |
| US8244435B2 (en) | Method and system for determining an optimal steering angle in understeer situations in a vehicle | |
| US8116942B2 (en) | Steering angle control apparatus for vehicle | |
| US9020699B2 (en) | Method and braking system for influencing driving dynamics by means of braking and driving operations | |
| US20080033612A1 (en) | Device and Method for Stabilizing a Motor Vehicle | |
| CN110606080B (en) | Vehicle and control method and device thereof | |
| US7792620B2 (en) | Driving dynamics control adapted to driving conditions and based on steering interventions | |
| US6209972B1 (en) | Braking force control system for automotive vehicle | |
| US7860623B2 (en) | Method for increasing the driving stability of a motor vehicle | |
| US7308350B2 (en) | Method and apparatus for determining adaptive brake gain parameters for use in a safety system of an automotive vehicle | |
| JP2007008450A (en) | Automobile driving dynamics adjusting method | |
| US11260901B2 (en) | Selective braking of four wheel steering vehicle | |
| US7433768B2 (en) | Method for determining a steering-wheel torque | |
| US20150314759A1 (en) | Vehicle movement dynamics control method | |
| JP2007515347A (en) | Brake pressure control method for roads with non-uniform friction values | |
| US8494717B2 (en) | Steering control during split mu braking | |
| CN102407847A (en) | Severeness subscript forming method for vehicle, involves acquiring steering angle velocity, and forming difference between acquired steering angle velocity and constant and severeness subscript by integrating difference over time | |
| WO2006013645A1 (en) | Vehicle attitude controlling device and method | |
| JP4744493B2 (en) | Vehicle control device | |
| JP5581702B2 (en) | VEHICLE SPECIFICATION ESTIMATION DEVICE PROVIDED WITH VEHICLE FORWARDING AND FORWARD ACCELERATION CORRECTION DEVICE | |
| JP5495027B2 (en) | Wheel braking force estimation device and vehicle motion control device equipped with the device | |
| KR20240021803A (en) | How to control the propulsion of large vehicles | |
| KR20210069625A (en) | Method for determining road conditions and vehicle having at least two wheel selectable steering actuators |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |