CN1787939B - 用于车辆的行驶动力学特性控制*** - Google Patents

用于车辆的行驶动力学特性控制*** Download PDF

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Publication number
CN1787939B
CN1787939B CN2004800129036A CN200480012903A CN1787939B CN 1787939 B CN1787939 B CN 1787939B CN 2004800129036 A CN2004800129036 A CN 2004800129036A CN 200480012903 A CN200480012903 A CN 200480012903A CN 1787939 B CN1787939 B CN 1787939B
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CN
China
Prior art keywords
subsystem
data
vehicle
central authorities
control target
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 - Lifetime
Application number
CN2004800129036A
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English (en)
Chinese (zh)
Other versions
CN1787939A (zh
Inventor
R·施瓦茨
S·弗里茨
S·施拉布勒
U·鲍尔
S·特勒斯特
M·魏因里特
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 Automotive Technologies GmbH
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 claimed from PCT/EP2004/050735 external-priority patent/WO2004101337A1/de
Publication of CN1787939A publication Critical patent/CN1787939A/zh
Application granted granted Critical
Publication of CN1787939B publication Critical patent/CN1787939B/zh
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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    • 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
    • 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
    • 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
    • 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
    • B60T2260/06—Active Suspension System
    • 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
    • B60T2260/08—Coordination of integrated systems
    • 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
    • B60T2260/09—Complex systems; Conjoint control of two or more vehicle active control 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
    • 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
    • B60W2050/0004—In digital systems, e.g. discrete-time systems involving sampling
    • B60W2050/0005—Processor details or data handling, e.g. memory registers or chip architecture
    • 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
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B60W2050/0044—In digital 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
    • 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
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
    • B60W2050/0297—Control Giving priority to different actuators or 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Vehicle Body Suspensions (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
CN2004800129036A 2003-05-13 2004-05-07 用于车辆的行驶动力学特性控制*** Expired - Lifetime CN1787939B (zh)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
DE10321645 2003-05-13
DE10321645.6 2003-05-13
DE10341412A DE10341412A1 (de) 2003-05-13 2003-09-05 Fahrdynamikregelsystem für Fahrzeuge
DE10341412.6 2003-09-05
PCT/EP2004/050735 WO2004101337A1 (de) 2003-05-13 2004-05-07 Fahrdynamikregelsystem für fahrzeuge

Publications (2)

Publication Number Publication Date
CN1787939A CN1787939A (zh) 2006-06-14
CN1787939B true CN1787939B (zh) 2011-04-13

Family

ID=33494735

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2004800129036A Expired - Lifetime CN1787939B (zh) 2003-05-13 2004-05-07 用于车辆的行驶动力学特性控制***

Country Status (2)

Country Link
CN (1) CN1787939B (de)
DE (1) DE10341412A1 (de)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE602005022823D1 (de) * 2005-02-23 2010-09-23 Ford Global Tech Llc Methode und Vorrichtung zur Gierratenkontrolle eines Fahrzeugs
DE102005025287A1 (de) * 2005-06-02 2006-12-07 Continental Teves Ag & Co. Ohg Fahrzustandsangepaßte, auf Lenkeingriffen basierende Fahrdynamikregelung
DE102007045572B4 (de) 2007-09-24 2021-12-09 Robert Bosch Gmbh Verfahren zur Reduzierung der Kippgefahr bei Fahrzeugen
US20090295559A1 (en) * 2008-06-02 2009-12-03 Gm Global Technology Operations, Inc. Integrated hierarchical process for fault detection and isolation
CN101357616B (zh) * 2008-09-27 2011-04-27 清华大学 智能环境友好型汽车结构
EP2334527B1 (de) 2008-10-17 2016-01-13 Continental Teves AG & Co. oHG Fahrdynamikregelsystem für fahrzeuge
DE102009049635A1 (de) * 2009-10-15 2011-04-21 Continental Teves Ag & Co. Ohg Fahrdynamikregelsystem für Fahrzeuge
US20130282202A1 (en) * 2012-04-19 2013-10-24 Hon Hai Precision Industry Co., Ltd. Vehicle control system and method
JP6338614B2 (ja) 2016-04-27 2018-06-06 株式会社Ｓｕｂａｒｕ 車両の走行制御装置
US10747228B2 (en) * 2017-07-03 2020-08-18 Baidu Usa Llc Centralized scheduling system for operating autonomous driving vehicles
CN110406592A (zh) * 2019-06-25 2019-11-05 湖北汽车工业学院 一种人车驾驶权分配的自动驾驶车辆转向***及控制方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19749005A1 (de) * 1997-06-30 1999-01-07 Bosch Gmbh Robert Verfahren und Vorrichtung zur Regelung von die Fahrzeugbewegung repräsentierenden Bewegungsgrößen
DE19812238A1 (de) * 1998-03-20 1999-09-23 Daimler Chrysler Ag Verfahren zur Regelung des Gierverhaltens von Fahrzeugen
DE10132440A1 (de) * 2001-07-04 2003-01-23 Bosch Gmbh Robert System und Verfahren zum Überwachen des Fahrverhaltens eines Fahrzeugs
DE10143551A1 (de) * 2001-09-06 2003-03-27 Daimler Chrysler Ag Vorrichtung zur Ansteuerung von Fahrzeugaggregaten

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19749005A1 (de) * 1997-06-30 1999-01-07 Bosch Gmbh Robert Verfahren und Vorrichtung zur Regelung von die Fahrzeugbewegung repräsentierenden Bewegungsgrößen
DE19812238A1 (de) * 1998-03-20 1999-09-23 Daimler Chrysler Ag Verfahren zur Regelung des Gierverhaltens von Fahrzeugen
DE10132440A1 (de) * 2001-07-04 2003-01-23 Bosch Gmbh Robert System und Verfahren zum Überwachen des Fahrverhaltens eines Fahrzeugs
DE10143551A1 (de) * 2001-09-06 2003-03-27 Daimler Chrysler Ag Vorrichtung zur Ansteuerung von Fahrzeugaggregaten

Also Published As

Publication number Publication date
CN1787939A (zh) 2006-06-14
DE10341412A1 (de) 2005-01-05

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C06 Publication
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SE01 Entry into force of request for substantive examination
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GR01 Patent grant
TR01 Transfer of patent right
TR01 Transfer of patent right

Effective date of registration: 20230403

Address after: Hannover

Patentee after: Continental Automotive Technology Co.,Ltd.

Address before: Frankfurt, Germany

Patentee before: CONTINENTAL TEVES AG & Co. OHG

CX01 Expiry of patent term
CX01 Expiry of patent term

Granted publication date: 20110413