CN203996186U - For controlling the device of the drg of vehicle - Google Patents

For controlling the device of the drg of vehicle Download PDF

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Publication number
CN203996186U
CN203996186U CN201290000676.5U CN201290000676U CN203996186U CN 203996186 U CN203996186 U CN 203996186U CN 201290000676 U CN201290000676 U CN 201290000676U CN 203996186 U CN203996186 U CN 203996186U
Authority
CN
China
Prior art keywords
vehicle
drg
turning
automatically
state
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
CN201290000676.5U
Other languages
Chinese (zh)
Inventor
S.布施
J.哈克
B.毛斯
N.格劳利希
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.)
Volkswagen AG
Original Assignee
Volkswagen AG
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 Volkswagen AG filed Critical Volkswagen AG
Application granted granted Critical
Publication of CN203996186U publication Critical patent/CN203996186U/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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
    • B60T8/32—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 a speed condition, e.g. acceleration or deceleration
    • B60T8/321—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 a speed condition, e.g. acceleration or deceleration deceleration
    • B60T8/3255—Systems in which the braking action is dependent on brake pedal data
    • B60T8/3275—Systems with a braking assistant function, i.e. automatic full braking initiation in dependence of brake pedal velocity
    • 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
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • 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
    • B60T8/17558—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 collision avoidance or collision mitigation
    • 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
    • B60T2201/02—Active or adaptive cruise control system; Distance control
    • 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
    • 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
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/20—Road shapes
    • B60T2210/24—Curve radius
    • 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
    • B60W10/184—Conjoint control of vehicle sub-units of different type or different function including control of braking systems with wheel brakes
    • 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
    • B60W2050/0062—Adapting control system settings
    • B60W2050/007—Switching between manual and automatic parameter input, and vice versa
    • B60W2050/0071—Controller overrides driver automatically
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/30—Road curve radius
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/085—Taking automatic action to adjust vehicle attitude in preparation for collision, e.g. braking for nose dropping
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • 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
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/17—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle with provision for special action when the preceding vehicle comes to a halt, e.g. stop and go

Landscapes

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

Abstract

Method and apparatus (20) for the drg of vehicle (10) (4) is controlled is described.At this, detect a kind of state of described vehicle (10), this state indication is controlled automatically to described drg (4), to improve the brake action of described drg (4).Additionally detect the turning driving of described vehicle (10).When described state being detected, according to whether described turning driving being detected, automatically control the drg of described vehicle (10) (4).

Description

For controlling the device of the drg of vehicle
Technical field
The utility model relates to a kind of device for automatically the drg of vehicle being controlled.
Background technology
EP 0 919 444 B1 disclose a kind of gradual braking device, and this gradual braking device reduces in the following cases the brake fluid pressure of trailing wheel when emergency braking being detected: turning performance value surpasses predetermined numerical value.
DE 24 45 624 A1 have illustrated a kind of additional brake equipment, and wherein additional brake mechanism can handle according to turning driving.
DE 197 32 998 A1 have illustrated a kind of method, wherein when turning driving, reduce the braking force of drg of the wheel of turning medial.
At present, collision warning and emergency brake system obtain promoting more and more widely in automotive field.These systems utilize different sensor (for example radar, laser, camera) for detection of the traffic participant moving ahead (small passenger car, load-carrying vehicle, bicycle rider, pedestrian etc.) or specific motoring condition.If a kind of motoring condition for example detected by means of these sensors, in this motoring condition, the chaufeur of vehicle can not be avoided accident itself again, and that just triggers the automatic retarding of vehicle.This deceleration automatically causing is for reducing collision velocity and reduce thus the degree of colliding, and wherein in exception, also can avoid collision completely.
But, when the drg of vehicle is carried out to this automatic manipulation, for the former of product liability thereby be recommendablely, the deceleration automatically causing of described vehicle also can be controlled for back to back traffic, thereby not because common avoidable accident occurs in the deceleration automatically causing.
Utility model content
Therefore, task of the present utility model is, aspect back to back traffic than also designing safely the automatic manipulation for the drg of vehicle by the situation of prior art.
According to the utility model, this task by a kind of by claimed in claim 1, for method that the drg of vehicle is controlled, by a kind of by claimed in claim 7, for device that the drg of vehicle is controlled and be resolved by vehicle claimed in claim 9 by a kind of.Dependent claims has defined preferred and favourable embodiment of the present utility model.
In scope of the present utility model, provide a kind of method for the drg of vehicle is controlled.A kind of state that vehicle detected at this, this state demonstrates in order to improve the brake action of described drg and automatically controls described drg (especially automatically handling described drg).In addition, detect the turning driving of described vehicle.If state above-mentioned detected now, that just automatically controls the drg of described vehicle according to the current turning driving that vehicle whether detected.
The inventor just has been found that and for braking strategy described vehicle, that automatically take, may cause when turn inside diameter travels: occur the collision with vehicle back to back, that travel in this vehicle back.This is for example attributed to following situation: the chaufeur of back to back vehicle is not sufficiently handled (thereby having occurred for avoiding the too small deceleration/decel of collision) to the drg of its vehicle due to turning driving, because he worries, when turning driving, lose the control to its vehicle, to such an extent as to occurred afterwards the collision between this vehicle and back to back vehicle.For this reason, when turning driving automatically the drg of vehicle is handled from modes different when vehicle is kept straight on.For example in a kind of state of vehicle, when keeping straight on, automatically with specific brake-pressure, control described drg, when turning driving, not necessarily automatically must control described drg with this specific brake-pressure, wherein in above-mentioned state, when keeping straight on, automatically control described drg, to improve the brake action (this is equivalent to a kind of state of vehicle, this state indication controlling automatically described drg) of described drg.
At this, when this vehicle is current, in turning, travel, when the turning radius at described turning is greater than predetermined threshold value, for example, there is a kind of turning driving of vehicle.This threshold value can so depend on the speed of a motor vehicle at this, and the speed of a motor vehicle is higher, and described threshold value is just less.
By distinguishing at turning driving and between keeping straight on when the drg of maneuver vehicle automatically, thereby can when turning driving, carry out as follows automatic brake regulation, can be advantageously at least than control better the deceleration/decel obtaining thus in by the situation of prior art for back to back vehicle.Therefore advantageously do not reduce the advantage of automatically handling described drg when keeping straight on.
According to the utility model, described vehicle, indication to the state of controlling automatically of drg in, when turning driving, exist the following flexible program for drg is controlled automatically:
Can automatically so control described drg, make the deceleration/decel of described vehicle not surpass predetermined threshold value.
For example can so select this threshold value, make the chaufeur of back to back vehicle also can avoid collision by the artificial manipulation of the drg for its vehicle.
The turning radius at the turning at vehicle place described in can detecting when turning driving, and automatically control described drg according to this turning radius.For example can automatically so control described drg, make detected turning radius less, the thus obtained deceleration/decel of described vehicle is just less.The deceleration/decel automatically causing can regulate by means of a kind of characteristic curve that the correlativity of deceleration/decel and turning radius is described at this.
By carry out the automatic manipulation to described drg according to turning radius, can advantageously between turning not dangerous, that there is larger turning radius and turning dangerous, that there is less turning radius, distinguish.
Finally exist following feasible program: as long as the turning driving of vehicle detected, can automatically to described drg, not control.
This flexible program can the most easily be implemented and prevent completely: when turning driving because the collision with back to back vehicle appears in automatic brake regulation.In this flexible program, chaufeur when turning driving in person (manually) handle described drg.
The turning radius at the turning driving of described vehicle and/or the turning of crossing can come to determine as follows:
The curve of the steering wheel angle speed about vehicle, described vehicle is analyzed and judgement thus, and whether described vehicle is in turning driving.If described vehicle, in turning driving, is also tried to achieve turning radius by means of this curve.This analysis can by means of steering wheel angle, about the characteristic curve of the speed of a motor vehicle, carry out.
Deflection efficiency to described vehicle is analyzed.On the current numerical value of described deflection efficiency, for example can correspondingly judge, whether described vehicle is in turning driving.On the current numerical value of described deflection efficiency or on curve described deflection efficiency, about the time, also can be in the hope of the radius at crossed turning.
The analysis of the rotating speed by two or more wheel for described vehicle, can judge, whether described vehicle is current travels in turning equally.For this reason, two wheels in these wheels should the different side in vehicle on (wheel at left side and a wheel on right side; As far as possible on same axletree).If the difference of the rotating speed of these two wheels surpasses predetermined threshold value, so described vehicle is current just to travel in turning.For example in the situation that know described two wheels, along the spacing of vehicle-width direction (advantageously described two wheels should on same axletree), the difference of rotating speed that also can be by these two wheels is determined turning radius.
By the analysis of the transverse acceleration for described vehicle, can determine equally, whether described vehicle is current in turning driving.Especially in the situation that know the corresponding speed of described vehicle, by the analysis of the temporal curve for transverse acceleration, also can be in the hope of the turning radius at crossed turning.
Especially in following situation, exist the state of controlling automatically of indicating for described drg:
A kind of emergency state of vehicle detected, in this emergency state, in most situation, compare with the situation of or manually not braking described vehicle, utilize the automatic braking of described vehicle still only to reduce the degree of the collision of obstacle described vehicle, that detect with sensor by described vehicle.
The emergency braking of vehicle detected.This emergency braking for example can be identified by the analysis of the artificial manipulation for brake pedal.By automatically control described drg in the situation that emergency braking being detected, thereby farthest improve the brake action of this drg.In other words, at least use the brake-pressure corresponding with manual handling brake pedal to handle described drg.
When automatically vehicle longitudinally being controlled, wherein according to the speed of a motor vehicle, the spacing of the vehicle apart from driving in the front is kept to constant as far as possible, the braking of the vehicle that this is driven in the front detects.
In scope of the present utility model, also provide a kind of device for the drg of vehicle is controlled.Said device comprises first sensor element, the second sensor element and control mechanism.By means of described first sensor element, described device detects a kind of state of described vehicle, and this state demonstrates in order to improve the brake action of described drg drg is controlled automatically.By means of described the second sensor element, described device detects the turning driving of described vehicle.When described first sensor element has detected described state, whether described control setup detects turning driving according to described the second sensor element and controls described drg.
Describedly by the advantage of device of the present utility model, be substantially equivalent to describedly by advantage method of the present utility model, that at length explained before, thereby abandon repetition of explanation here.
Finally, the utility model provides a kind of vehicle, and this vehicle comprises drg and by device of the present utility model.
The utility model is suitable for self-propelled vehicle, wherein automatically handles the drg of described vehicle.Certainly, the utility model is not limited to this preferred application, because the utility model also can be used in vehicle boats and ships, aircraft and rail or that direction is controlled.
Accompanying drawing explanation
Below by means of a kind of preferred, by embodiment of the present utility model, with reference to unique accompanying drawing, the utility model is described.
In unique accompanying drawing, schematically show by vehicle of the present utility model, it has by device of the present utility model.
The specific embodiment
Unique accompanying drawing schematically shows vehicle 10, and this vehicle comprises device 20 and drg 4.Described device 20 itself comprises first sensor element 1 and the second sensor element 2, and these sensor elements are connected with the control mechanism 3 of described device 20.By means of the first sensor element 1 that for example can comprise camera, detect a kind of state of described vehicle 10, in this state, when described vehicle 10 is kept straight on, automatically control described drg 4, for improving the brake action of this drg 4.Utilize the ESP(electronic stability program for example comprise described vehicle 10) in the second sensor element 2 of deflection efficiency sensor detect, whether vehicle 10 current in turning driving.If exist described state, that turning driving that just described vehicle 10 detected according to whether by means of the second sensor element 2 by control mechanism 3 is controlled described drg 4.

Claims (2)

1. the device for the drg of vehicle (10) (4) is controlled,
Wherein said device (20) comprises first sensor element (1), the second sensor element (2) and control mechanism (3),
A kind of state of described vehicle (10) wherein by means of described first sensor element (1), can be detected, described state indication is controlled automatically to described drg (4), to improve the brake action of described drg (4),
Wherein, by means of described the second sensor element (2), the turning driving of described vehicle (10) can be detected,
Wherein so construct described device (20), make described device (20) according to described the second sensor element (2), turning driving whether be detected when described state being detected and control described drg (4).
2. there is drg (4) and by the vehicle of device claimed in claim 1 (20).
CN201290000676.5U 2011-07-15 2012-06-25 For controlling the device of the drg of vehicle Expired - Lifetime CN203996186U (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102011107271.7 2011-07-15
DE102011107271.7A DE102011107271B4 (en) 2011-07-15 2011-07-15 Method and device for controlling a brake of a vehicle and vehicle
PCT/EP2012/002669 WO2013010620A2 (en) 2011-07-15 2012-06-25 Method and device for controlling a brake of a vehicle

Publications (1)

Publication Number Publication Date
CN203996186U true CN203996186U (en) 2014-12-10

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Application Number Title Priority Date Filing Date
CN201290000676.5U Expired - Lifetime CN203996186U (en) 2011-07-15 2012-06-25 For controlling the device of the drg of vehicle

Country Status (3)

Country Link
CN (1) CN203996186U (en)
DE (1) DE102011107271B4 (en)
WO (1) WO2013010620A2 (en)

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CN110386190A (en) * 2018-04-20 2019-10-29 北京智行者科技有限公司 Control method for vehicle

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Also Published As

Publication number Publication date
WO2013010620A2 (en) 2013-01-24
DE102011107271A1 (en) 2013-01-17
WO2013010620A3 (en) 2013-06-20
DE102011107271B4 (en) 2016-01-28

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GR01 Patent grant
CX01 Expiry of patent term
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Granted publication date: 20141210