DE102005041959A1 - Driving dynamics control system for two-track motor vehicle, has deviation angle control system limiting measured deviation angle of vehicle to preset maximum value by engagement provided to yaw-rate control system - Google Patents
Driving dynamics control system for two-track motor vehicle, has deviation angle control system limiting measured deviation angle of vehicle to preset maximum value by engagement provided to yaw-rate control system Download PDFInfo
- Publication number
- DE102005041959A1 DE102005041959A1 DE200510041959 DE102005041959A DE102005041959A1 DE 102005041959 A1 DE102005041959 A1 DE 102005041959A1 DE 200510041959 DE200510041959 DE 200510041959 DE 102005041959 A DE102005041959 A DE 102005041959A DE 102005041959 A1 DE102005041959 A1 DE 102005041959A1
- Authority
- DE
- Germany
- Prior art keywords
- control system
- vehicle
- deviation angle
- yaw
- yaw rate
- 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.)
- Withdrawn
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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
- B62D6/007—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits adjustable by the driver, e.g. sport mode
-
- 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
- B60T8/17552—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve responsive to the tire sideslip angle or the vehicle body slip angle
-
- 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
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/103—Side slip angle of vehicle body
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/11—Pitch movement
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/112—Roll movement
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/114—Yaw movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
- B60T2230/02—Side slip angle, attitude angle, floating angle, drift angle
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
- Regulating Braking Force (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Description
Die Erfindung betrifft ein Fahrdynamik-Regelsystem für ein zweispuriges Kraftfahrzeug, welches zumindest bei signifikanten Abweichungen zwischen der aus der Lenkvorgabe des Fahrers und der Fahrzeug-Fahrgeschwindigkeit ermittelten Soll-Gierrate und der aktuell gemessenen Ist-Gierrate ausgelöst durch das Regelsystem einen die Abweichung reduzierenden Eingriff in das Lenksystem oder Bremssystem oder Antriebssystem des Kraftfahrzeugs vornimmt und wobei dieses sog. Gierraten-Regelsystem vom Fahrer abgeschaltet werden kann. Dabei sei darauf hingewiesen, dass anstelle der Gierrate auch eine bzw. mehrere hiermit direkt vergleichbare Größe(n) verwendet werden kann (bzw. können), d.h. die vorliegende Erfindung betrifft auch Fahrdynamik-Regelsysteme, die anstelle der Gierrate mit dieser direkt vergleichbare Größen verwenden.The The invention relates to a vehicle dynamics control system for a two-lane motor vehicle, which at least for significant differences between the the driver's guidance and vehicle speed determined target yaw rate and the currently measured actual yaw rate triggered by the control system one the deviation reducing intervention in the steering system or braking system or drive system of the motor vehicle makes and wherein this so-called yaw rate control system can be switched off by the driver. It should be noted that instead of the yaw rate also one or more hereby directly comparable size (s) used can (or can) be, i.e. the present invention also relates to vehicle dynamics control systems, instead of using the yaw rate with these directly comparable sizes.
Solange ein Fahrdynamik-Regelsystem nach dem Oberbegriff des Anspruchs 1 in Betrieb, d.h. aktiv ist, kann ein damit ausgerüstetes Kraftfahrzeug zumindest solange, als eine ausreichende Bodenhaftung der Fzg.-Räder vorliegt, praktisch nicht in einen unsicheren Fahrzustand gelangen. Besondere Fahrmanöver (wie Drifts oder dgl.), die der Fahrer dieses Kraftfahrzeugs bewusst ausführen möchte oder ausführen muss, sind dann jedoch zumeist nicht mehr möglich. Für solche Sonderfälle kann das die Ist-Gierrate an die Soll-Gierrate anpassende Fahrdynamik-Regelsystem abgeschaltet werden. Damit ist jedoch praktisch jegliche Sicherheit verloren, d.h. der Fahrer ist in der Kontrolle dieses Fahrmanövers auf sich alleine gestellt.So long a vehicle dynamics control system according to the preamble of claim 1 in operation, i. is active, can be a vehicle equipped with it at least as long as sufficient traction of the vehicle wheels is present, practically not get into an unsafe driving condition. Special driving maneuvers (like Drifts or the like.), Which the driver of this motor vehicle aware To run would like or To run must, but then are mostly no longer possible. For such special cases can the vehicle dynamics control system adjusting the actual yaw rate to the target yaw rate be switched off. However, this is virtually any security lost, i. the driver is in control of this driving maneuver alone.
Hiermit soll nun aufgezeigt werden, wie der Fahrer bei Abschaltung eines sog. Gierraten-Regelsystems nach dem Oberbegriff des Anspruchs 1 weiterhin eine gewisse Sicherheit durch teilweise Unterstützung eines Fahrdynamik-Regelsystems erhalten kann (= Aufgabe der vorliegenden Erfindung).Herewith will now be shown how the driver when switching off a so-called yaw rate control system according to the preamble of claim 1 continue to provide some security by partially supporting one Vehicle dynamics control system can receive (= task of the present Invention).
Die Lösung dieser Aufgabe ist für ein Fahrdynamik-Regelsystem nach dem Oberbegriff des Anspruchs 1 dadurch gekennzeichnet, dass bei abgeschaltetem Gierraten-Regelsystem ein Schwimmwinkel-Regelsystem aktiv oder wählbar aktivierbar ist, das mit Hilfe des oder der dem Gierraten-Regelsystem zur Verfügung stehender/n Eingriffe(s) den geeignet geschätzten oder gemessenen Schwimmwinkel des Fahrzeugs auf einen vorgegebenen Maximalwert begrenzt.The solution this task is for a vehicle dynamics control system according to the preamble of claim 1 characterized in that when switched off yaw rate control system a float angle control system is active or selectable activated, the with the help of or the yaw rate control system available Intervention (s) the suitably estimated or measured float angle of the vehicle to a predetermined Maximum value limited.
Vorgeschlagen wird somit ein sog. Schwimmwinkel-Begrenzungsregler, der mittels geeigneter Maßnahmen den (dem Fachmann bekannten) Schwimmwinkel des Fahrzeugs auf einen vorgegebenen Maximalwert begrenzt, wenn der sog. Gierraten-Regler abgeschaltet ist. Dieser Schwimmwinkel-Begrenzungsregler kann dabei mit Abschalten des Gierraten-Reglers stets und selbsttätig aktiv werden oder es kann dieser sog. Schwimmwinkel-Begrenzungsregler vom Fahrer des Kraftfahrzeugs bewusst oder gezielt aktiviert, d.h. eingeschaltet werden.proposed Thus, a so-called. Floating angle limiting controller, by means of appropriate measures the (known in the art) float angle of the vehicle to a limited maximum value, if the so-called yaw rate controller is switched off. This float angle limiter can do this with switching off the yaw rate controller always and automatically active or it may be this so-called slip angle limiting controller intentionally or specifically activated by the driver of the motor vehicle, i. be turned on.
Vorzugsweise
wird zumindest bei aktivem Schwimmwinkel-Begrenzungsregler der aktuelle Schwimmwinkel
gemessen, was bspw. analog dem in der
Was die Maßnahmen zur Begrenzung des Schwimmwinkels betrifft, so kann der sog. Schwimmwinkel-Begrenzungsregler hierzu die Fahrgeschwindigkeit des Fahrzeugs reduzieren und/oder durch geeignete einseitige Veränderung der an den Rädern übertragenen Längskräfte ein geeignetes Giermoment erzeugen und/oder in das Lenksystem des Fahrzeugs eingreifen und geeignet gegenlenken.What the measures Concerning the limitation of the slip angle, the so-called float angle limiting controller can be used reduce the vehicle speed and / or through appropriate unilateral change the transmitted at the wheels Longitudinal forces generate appropriate yaw moment and / or in the steering system of the vehicle intervene and counteract appropriately.
Die vorgeschlagene Maßnahme garantiert zwar keine Stabilität des Fahrzustands, kann jedoch den Fahrer bei der fahrzustands-stabilen Durchführung eines von ihm gewünschten Fahrmanövers zumindest unterstützen.The proposed measure does not guarantee stability the driving condition, but can the driver in the driving stable execution one of his desired maneuver at least support.
Claims (1)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE200510041959 DE102005041959A1 (en) | 2005-09-03 | 2005-09-03 | Driving dynamics control system for two-track motor vehicle, has deviation angle control system limiting measured deviation angle of vehicle to preset maximum value by engagement provided to yaw-rate control system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE200510041959 DE102005041959A1 (en) | 2005-09-03 | 2005-09-03 | Driving dynamics control system for two-track motor vehicle, has deviation angle control system limiting measured deviation angle of vehicle to preset maximum value by engagement provided to yaw-rate control system |
Publications (1)
Publication Number | Publication Date |
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DE102005041959A1 true DE102005041959A1 (en) | 2007-03-08 |
Family
ID=37735499
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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DE200510041959 Withdrawn DE102005041959A1 (en) | 2005-09-03 | 2005-09-03 | Driving dynamics control system for two-track motor vehicle, has deviation angle control system limiting measured deviation angle of vehicle to preset maximum value by engagement provided to yaw-rate control system |
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DE (1) | DE102005041959A1 (en) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2112041A2 (en) | 2008-04-24 | 2009-10-28 | Honda Motor Co., Ltd. | Vehicle body drifting restraining device |
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 |
DE102014000068A1 (en) * | 2014-01-09 | 2015-07-09 | Wabco Gmbh | Method, control device and vehicle dynamics control system for stability control of a vehicle |
DE102016214564A1 (en) * | 2016-08-05 | 2018-02-08 | Volkswagen Aktiengesellschaft | Method and control system for driving dynamics control of a vehicle and vehicle |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4305155A1 (en) * | 1993-02-19 | 1994-08-25 | Bosch Gmbh Robert | Vehicle dynamics control system |
DE19964032A1 (en) * | 1999-12-30 | 2001-07-05 | Bosch Gmbh Robert | Stabilizing vehicle involves regulating transverse dynamic parameter describing transverse dynamic properties of vehicle so that vehicle's float angle is limited to predefined value |
DE10328685A1 (en) * | 2003-06-26 | 2005-01-13 | Daimlerchrysler Ag | Device for stabilizing a vehicle while driving along bends, comprises front and rear wheel angle actuators for controlling corresponding front and rear wheel steering angles |
DE102004053785A1 (en) * | 2003-11-19 | 2005-06-30 | Robert Bosch Gmbh | Producing drift-function for motor vehicle involves using driver-independent steering interventions and driver-independent variations of engine torque; floating angle can be regulated to value defined by driver |
-
2005
- 2005-09-03 DE DE200510041959 patent/DE102005041959A1/en not_active Withdrawn
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4305155A1 (en) * | 1993-02-19 | 1994-08-25 | Bosch Gmbh Robert | Vehicle dynamics control system |
DE19964032A1 (en) * | 1999-12-30 | 2001-07-05 | Bosch Gmbh Robert | Stabilizing vehicle involves regulating transverse dynamic parameter describing transverse dynamic properties of vehicle so that vehicle's float angle is limited to predefined value |
DE10328685A1 (en) * | 2003-06-26 | 2005-01-13 | Daimlerchrysler Ag | Device for stabilizing a vehicle while driving along bends, comprises front and rear wheel angle actuators for controlling corresponding front and rear wheel steering angles |
DE102004053785A1 (en) * | 2003-11-19 | 2005-06-30 | Robert Bosch Gmbh | Producing drift-function for motor vehicle involves using driver-independent steering interventions and driver-independent variations of engine torque; floating angle can be regulated to value defined by driver |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2112041A2 (en) | 2008-04-24 | 2009-10-28 | Honda Motor Co., Ltd. | Vehicle body drifting restraining device |
EP2112041A3 (en) * | 2008-04-24 | 2009-11-18 | Honda Motor Co., Ltd. | Vehicle body drifting restraining device |
US8170754B2 (en) | 2008-04-24 | 2012-05-01 | Honda Motor Co., Ltd. | Vehicle body drifting restraining device |
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 |
DE102014000068A1 (en) * | 2014-01-09 | 2015-07-09 | Wabco Gmbh | Method, control device and vehicle dynamics control system for stability control of a vehicle |
DE102016214564A1 (en) * | 2016-08-05 | 2018-02-08 | Volkswagen Aktiengesellschaft | Method and control system for driving dynamics control of a vehicle and vehicle |
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Legal Events
Date | Code | Title | Description |
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OM8 | Search report available as to paragraph 43 lit. 1 sentence 1 patent law | ||
R119 | Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee |
Effective date: 20110401 |