DE102007061836A1 - Vehicle trailer combination stabilizing method, involves determining reference articulation angle and deviation based on preset condition parameter of vehicle trailer combination to determine permissible articulation angle range - Google Patents
Vehicle trailer combination stabilizing method, involves determining reference articulation angle and deviation based on preset condition parameter of vehicle trailer combination to determine permissible articulation angle range Download PDFInfo
- Publication number
- DE102007061836A1 DE102007061836A1 DE102007061836A DE102007061836A DE102007061836A1 DE 102007061836 A1 DE102007061836 A1 DE 102007061836A1 DE 102007061836 A DE102007061836 A DE 102007061836A DE 102007061836 A DE102007061836 A DE 102007061836A DE 102007061836 A1 DE102007061836 A1 DE 102007061836A1
- Authority
- DE
- Germany
- Prior art keywords
- vehicle
- angle range
- deviation
- trailer
- angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000000087 stabilizing effect Effects 0.000 title claims description 8
- 238000005452 bending Methods 0.000 claims description 54
- 230000006641 stabilisation Effects 0.000 claims description 17
- 238000011105 stabilization Methods 0.000 claims description 17
- 230000001133 acceleration Effects 0.000 claims description 6
- 230000001419 dependent effect Effects 0.000 claims description 5
- 230000009471 action Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- BUHVIAUBTBOHAG-FOYDDCNASA-N (2r,3r,4s,5r)-2-[6-[[2-(3,5-dimethoxyphenyl)-2-(2-methylphenyl)ethyl]amino]purin-9-yl]-5-(hydroxymethyl)oxolane-3,4-diol Chemical compound COC1=CC(OC)=CC(C(CNC=2C=3N=CN(C=3N=CN=2)[C@H]2[C@@H]([C@H](O)[C@@H](CO)O2)O)C=2C(=CC=CC=2)C)=C1 BUHVIAUBTBOHAG-FOYDDCNASA-N 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 239000010426 asphalt Substances 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000005094 computer simulation Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000001687 destabilization Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- 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
- 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
- B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
- B60T8/1708—Braking or traction control means specially adapted for particular types of vehicles for lorries or tractor-trailer combinations
-
- 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
- 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
- B60T8/24—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 vehicle inclination or change of direction, e.g. negotiating bends
- B60T8/248—Trailer sway, e.g. for preventing jackknifing
-
- 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
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D13/00—Steering specially adapted for trailers
-
- 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
- B60T2230/06—Tractor-trailer swaying
-
- 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
- B60W2300/00—Indexing codes relating to the type of vehicle
- B60W2300/14—Tractor-trailers, i.e. combinations of a towing vehicle and one or more towed vehicles, e.g. caravans; Road trains
- B60W2300/145—Semi-trailers
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/12—Lateral speed
- B60W2520/125—Lateral acceleration
-
- 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
- B60W2520/22—Articulation angle, e.g. between tractor and trailer
-
- 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
-
- 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
-
- 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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
-
- 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
- B60W30/18—Propelling the vehicle
- B60W30/18172—Preventing, or responsive to skidding of wheels
-
- 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
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Regulating Braking Force (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Description
Die vorliegende Erfindung betrifft ein Verfahren zum Stabilisieren eines aus einem Zugfahrzeug und aus einem Anhänger oder Auflieger bestehenden Fahrzeuggespanns, mit den Merkmalen des Oberbegriffs des Anspruchs 1. Die Erfindung betrifft außerdem ein mit Hilfe des Stabilisierungsverfahrens betriebenes Fahrzeuggespann.The The present invention relates to a method of stabilizing a a towing vehicle and a trailer or semi-trailer existing vehicle combination, with the features of the preamble of claim 1. The invention also relates to a Help of stabilization method operated vehicle combination.
Aus
der
Beim bekannten Verfahren wird der Bereich zulässiger Knickwinkel in Abhängigkeit der Fahrzeuggeschwindigkeit und/oder in Abhängigkeit davon, ob für das Zugfahrzeug bereits Stabilisierungseingriffe durchgeführt werden, und/oder in Abhängigkeit des Lenkwinkels an lenkbaren Rädern des Zugfahrzeugs ermittelt. Beim Stabilisierungseingriff werden Räder des Anhängers bzw. Aufliegers gebremst.At the known method is the range of allowable bending angle depending on the vehicle speed and / or in Depending on whether for the towing vehicle already Stabilization interventions are carried out, and / or depending on the steering angle of steerable wheels of the towing vehicle. When stabilization intervention will be Wheels of the trailer or semi-trailer braked.
Die vorliegende Erfindung beschäftigt sich mit dem Problem, für die Fahrsicherheit von Fahrzeuggespannen verbesserte Ausführungsformen anzugeben, die sich insbesondere dadurch auszeichnen, dass die Unfallgefahr durch Einknicken des Gespanns reduziert ist.The The present invention addresses the problem of improved for the driving safety of vehicle combinations Specify embodiments that are characterized in particular Characterize that the risk of accidents by buckling of the team is reduced.
Dieses Problem wird erfindungsgemäß durch die Gegenstände der unabhängigen Ansprüche gelöst. Vorteilhafte Ausführungsformen sind Gegenstand der abhängigen Ansprüche.This Problem is inventively by the objects of the independent claims. advantageous Embodiments are the subject of the dependent Claims.
Die Erfindung beruht auf dem allgemeinen Gedanken, den zulässigen Knickwinkelbereich mit Hilfe eines Sollknickwinkels in Verbindung mit einer tolerierbaren Abweichung von diesem Sollknickwinkel zu definieren. Dabei liegt der Sollknickwinkel mittig im Knickwinkelbereich und die Abweichung definiert betragsmäßig den Abstand des Sollknickwinkels von den beiden Grenzwerten des zulässigen Knickwinkelbereichs. Der Sollknickwinkel und die Abweichung lassen sich dabei anhand vorbestimmter Zustandsparameter des Gespanns ermitteln. Bei der erfindungsgemäßen Vorgehensweise folgt der zulässige Knickwinkelbereich quasi den Lenkbewegungen des Fahrzeugs. Die tolerierbare Abweichung kann dadurch vergleichsweise klein gewählt werden, so dass relativ früh unzulässige Knickwinkel erkannt werden können.The Invention is based on the general idea, the permissible Buckling angle range using a predetermined bending angle in conjunction with a tolerable deviation from this nominal bending angle define. The predetermined bending angle is centered in the bending angle range and the deviation defines the amount Distance of the bending angle from the two limits of the permitted bending angle range. The nominal bending angle and the deviation can be based on Determine predetermined condition parameters of the team. In the inventive Approach follows the permissible kink angle range quasi the steering movements of the vehicle. The tolerable deviation can thereby be chosen comparatively small, so that relatively early Inadmissible bending angle can be detected.
Der Sollknickwinkel kann dabei beispielsweise mit Hilfe eines Fahrzeugmodells, insbesondere mit Hilfe eines Einspurmodells, berechnet werden. Beispielsweise beinhaltet dieses Modell die Fahrzeuggeometrie sowie den aktuellen Lenkwinkel und ermöglicht dadurch die Berechnung des Sollknickwinkels.Of the Sollknickwinkel can, for example, with the help of a vehicle model, especially with the help of a single-track model. For example This model includes the vehicle geometry as well as the current one Steering angle and thereby enables the calculation of the desired bending angle.
Die Abweichung kann beispielsweise in Abhängigkeit einer Fahrzeuglängsgeschwindigkeit ermittelt werden. Je größer die Fahrzeuglängsgeschwindigkeit, desto kleiner sind die tolerierbaren Abweichungen, um so enger ist somit der zulässige Knickwinkelbereich. Zusätzlich kann die Abweichung auch in Abhängigkeit wenigstens eines weiteren Parameters ermittelt werden. Beispielsweise eignen sich hierzu eine Querbeschleunigung des Fahrzeugs, eine Gierrate des Fahrzeugs, ein Schwimmwinkel des Fahrzeugs, eine Lenkwinkelgeschwindigkeit und Fahrbahnreibwerte.The Deviation can, for example, depending on a vehicle longitudinal speed be determined. The greater the vehicle's longitudinal speed, the smaller the tolerable deviations, the tighter thus the permissible kink angle range. additionally the deviation can also depend on at least one further parameter can be determined. For example, are suitable For this purpose, a lateral acceleration of the vehicle, a yaw rate of Vehicle, a slip angle of the vehicle, a steering angle speed and road friction values.
Besonders vorteilhaft ist es, die Abweichung mit Hilfe eines Kennfelds zu ermitteln, wobei das Kennfeld die Abhängigkeiten der tolerierbaren Abweichung einerseits von der Fahrzeuglängsgeschwindigkeit und andererseits von wenigstens einem weiteren Fahrzeugparameter enthält.Especially It is advantageous to the deviation using a map to determine where the map is the dependencies of the tolerable Deviation on the one hand from the vehicle's longitudinal speed and on the other hand of at least one other vehicle parameter contains.
Verlässt der tatsächliche Knickwinkel, also der Istknickwinkel den zulässigen Knickwinkelbereich ist es grundsätzlich möglich, ein entsprechendes Warnsignal an den Fahrzeugführer zu übermitteln. Alternativ oder zusätzlich kann auch ein automatischer Stabilisierungseingriff realisiert werden. Beispielsweise kann hierbei ein Eingriff in ein Lenksystem des Fahrzeugs durchgeführt werden. Denkbar sind z. B. eine automatische Lenkwinkelkorrektur am Zugfahrzeug und/oder am Auflieger. Ebenso ist es grundsätzlich möglich, Änderungen des Lenkmoments am Lenkrad durchzuführen, wodurch es dem Fahrer erleichtert wird und außerdem haptisch angezeigt wird, in welche Richtung er lenken muss, um das Fahrzeug zu stabilisieren.Leaves the actual kink angle, so the actual kink angle the permissible kink angle range, it is basically possible, a corresponding warning signal to the driver to convey. Alternatively or additionally also an automatic stabilization intervention can be realized. For example, this may be an intervention in a steering system of the vehicle be performed. Conceivable z. B. an automatic Steering angle correction on towing vehicle and / or semitrailer. As well It is basically possible to make changes to perform the steering torque on the steering wheel, causing the driver is facilitated and also displayed haptic, in which direction he has to steer in order to stabilize the vehicle.
Des Weiteren ist grundsätzlich ein Einzelradbremseingriff durch das Bremssystem am Zugfahrzeug möglich, um den Istknickwinkel in den zulässigen Knickwinkelbereich zurückzuführen. Dies ist zusätzlich oder alternativ auch am Auflieger möglich, sofern dessen Bremssystem die Möglichkeit für Einzelradbremseingriffe bzw. für einseitige Bremseingriffe bietet.Of Further is basically a Einzelradbremseingriff by the braking system on towing vehicle possible to the actual bending angle due to the permissible bending angle range. This is additionally or alternatively possible on the trailer, if its braking system the possibility for single wheel braking or for one-sided braking interventions.
Weitere wichtige Merkmale und Vorteile der Erfindung ergeben sich aus den Unteransprüchen, aus den Zeichnungen und aus der zugehörigen Figurenbeschreibung anhand der Zeichnungen.Further important features and advantages of the invention will become apparent from the Subclaims, from the drawings and from the associated Description of the figures with reference to the drawings.
Es versteht sich, dass die vorstehend genannten und die nachstehend noch zu erläuternden Merkmale nicht nur in der jeweils angegebenen Kombination, sondern auch in anderen Kombinationen oder in Alleinstellung verwendbar sind, ohne den Rahmen der vorliegenden Erfindung zu verlassen.It it is understood that the above and the following yet to be explained features not only in each case specified combination, but also in other combinations or can be used in isolation, without the scope of the present To leave invention.
Bevorzugte Ausführungsbeispiele der Erfindung sind in den Zeichnungen dargestellt und werden in der nachfolgenden Beschreibung näher erläutert, wobei sich gleiche Bezugszeichen auf gleiche oder ähnliche oder funktional gleiche Bauteile beziehen.preferred Embodiments of the invention are in the drawings and will become more apparent in the following description explained, wherein the same reference numerals to the same or similar or functionally identical components relate.
Es zeigen, jeweils schematisch:It show, each schematically:
Entsprechend
den
Kritisch
für die Sicherheit des Fahrzeuggespanns
Die
Größe dieses Knickwinkelbereichs
Bei
dem in
In
Beim
hier vorgestellten Stabilisierungsverfahren wird während
des Fahrbetriebs des Fahrzeuggespanns
Zur
Ermittlung des zulässigen Knickwinkelbereichs
Dabei
lassen sich der Sollknickwinkel αsoll und
die Abweichung Δ anhand vorbestimmter Zustandsparameter
des Gespanns
Die
Abweichung Δ kann zumindest in Abhängigkeit einer
Fahrzeuglängsgeschwindigkeit ermittelt werden. Mit anderen
Worten, die Abweichung Δ und in der Folge die Größe
des Knickwinkelbereichs
Darüber hinaus können bei der Ermittlung der tolerierbaren Abweichung Δ zusätzliche Abhängigkeiten von anderen Fahrzeugparametern berücksichtigt werden. Beispielsweise lassen sich die Querbeschleunigung des Fahrzeugs, die Gierrate des Fahrzeugs, der Schwimmwinkel des Fahrzeugs, die Lenkwinkelgeschwindigkeit sowie zumindest ein Fahrbahnreibwert bei der Ermittlung der tolerierbaren Abweichung Δ einzeln oder in beliebiger Kombination berücksichtigen. Dabei kann es zweckmäßig sein, die Abweichung Δ anhand eines Kennfelds zu ermitteln, wobei im Kennfeld die gesuchte Abweichung Δ in Abhängigkeit der Fahrzeuglängsgeschwindigkeit sowie wenigstens eines weiteren Fahrzeugparameters abgelegt ist.About that In addition, in determining the tolerable deviation Δ additional Dependencies on other vehicle parameters become. For example, the lateral acceleration of the vehicle, the yaw rate of the vehicle, the slip angle of the vehicle, the steering angular velocity and at least one road friction coefficient in the determination of the tolerable deviation Δ individually or in any combination. It can it may be appropriate to use the deviation Δ to determine a characteristic map, wherein in the map the desired deviation Δ in Dependence of the vehicle longitudinal speed as well at least one further vehicle parameter is stored.
Für
die Ermittlung des zulässigen Knickwinkelbereichs
Beispielsweise
zeigt
Wie
erläutert hängt der zulässige Knickwinkelbereich
Der
aktuelle Lenkwinkel an lenkbaren Rädern des Zugfahrzeugs
Der
aktuelle Knickwinkel α kann beispielsweise an einer hier
nicht näher bezeichneten Zugmaschinensattelkupplung mit
Hilfe eines entsprechenden Knickwinkelsensors permanent ermittelt
werden. Der aktuelle Knickwinkel α wird dann in der genannten
Steuerung bzw. dem genannten Steuergerät zugeführt.
Durch permanentes Vergleichen des aktuellen Knickwinkels α also
des Ist-Knickwinkels mit dem zulässigen Knickwinkelbereich
Mit
Hilfe des zuvor beschriebenen adaptiven Kennfelds kann die Größe
des zulässigen Knickwinkelbereichs
Wird
während des Fahrbetriebs der zulässige Knickwinkelbereich
Besonders
effektiv sind Stabilisierungseingriffe, die einen Lenkeingriff an
lenkbaren Rädern
Zusätzlich
oder alternativ ist es auch möglich, gemäß
Zusätzlich
oder alternativ ist es ebenso möglich, am Auflieger
Es ist klar, dass die zuvor genannten Stabilisierungseingriffe einzeln realisierbar sind, kumuliert realisierbar sind oder in beliebiger Kombination realisierbar sind.It it is clear that the aforementioned stabilization interventions individually are feasible, cumulative realizable or in any Combination are feasible.
ZITATE ENTHALTEN IN DER BESCHREIBUNGQUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- - DE 19859953 A1 [0002] - DE 19859953 A1 [0002]
Claims (5)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102007061836A DE102007061836A1 (en) | 2007-12-20 | 2007-12-20 | Vehicle trailer combination stabilizing method, involves determining reference articulation angle and deviation based on preset condition parameter of vehicle trailer combination to determine permissible articulation angle range |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102007061836A DE102007061836A1 (en) | 2007-12-20 | 2007-12-20 | Vehicle trailer combination stabilizing method, involves determining reference articulation angle and deviation based on preset condition parameter of vehicle trailer combination to determine permissible articulation angle range |
Publications (1)
Publication Number | Publication Date |
---|---|
DE102007061836A1 true DE102007061836A1 (en) | 2009-06-25 |
Family
ID=40689684
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102007061836A Withdrawn DE102007061836A1 (en) | 2007-12-20 | 2007-12-20 | Vehicle trailer combination stabilizing method, involves determining reference articulation angle and deviation based on preset condition parameter of vehicle trailer combination to determine permissible articulation angle range |
Country Status (1)
Country | Link |
---|---|
DE (1) | DE102007061836A1 (en) |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2433839A1 (en) * | 2010-09-22 | 2012-03-28 | Haldex Brake Products AB | Method for a stability control of a trailer |
EP2570312A1 (en) * | 2011-09-16 | 2013-03-20 | Haldex Brake Products Aktiebolag | Method for Controlling a Brake Actuation of a Tractor-Trailer Combination |
WO2014177380A1 (en) * | 2013-05-01 | 2014-11-06 | Jaguar Land Rover Limited | Method for predicting instability in a vehicle-trailer combination |
DE102014202615A1 (en) * | 2014-02-13 | 2015-08-13 | Volkswagen Aktiengesellschaft | System and method for establishing a desired kink angle between a trailer and a tractor |
DE102014204500A1 (en) | 2014-03-12 | 2015-09-17 | Volkswagen Aktiengesellschaft | Method and apparatus for detecting a swing and stabilize a vehicle combination |
WO2016192855A1 (en) * | 2015-06-02 | 2016-12-08 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Method for stabilizing a tractor vehicle-trailer combination during travel |
DE102018122273A1 (en) * | 2018-09-12 | 2020-03-12 | Wabco Gmbh | Method for determining an unstable behavior of a trailer and method for stabilizing a trailer as well as evaluation unit and vehicle combination |
DE102021121763A1 (en) | 2021-08-23 | 2023-02-23 | Zf Cv Systems Global Gmbh | Method for checking the stability of a combination with a vehicle and control unit for carrying out the method and vehicle or combination with the brake control unit |
DE112014004384B4 (en) | 2013-11-18 | 2024-01-11 | Robert Bosch Gmbh | Vector-based driver assistance for towing vehicles |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19859953A1 (en) | 1998-12-28 | 2000-06-29 | Bosch Gmbh Robert | Device and method for stabilizing a vehicle combination consisting of a towing vehicle and a trailer or semitrailer |
-
2007
- 2007-12-20 DE DE102007061836A patent/DE102007061836A1/en not_active Withdrawn
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE19859953A1 (en) | 1998-12-28 | 2000-06-29 | Bosch Gmbh Robert | Device and method for stabilizing a vehicle combination consisting of a towing vehicle and a trailer or semitrailer |
Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2433839A1 (en) * | 2010-09-22 | 2012-03-28 | Haldex Brake Products AB | Method for a stability control of a trailer |
EP2570312A1 (en) * | 2011-09-16 | 2013-03-20 | Haldex Brake Products Aktiebolag | Method for Controlling a Brake Actuation of a Tractor-Trailer Combination |
WO2014177380A1 (en) * | 2013-05-01 | 2014-11-06 | Jaguar Land Rover Limited | Method for predicting instability in a vehicle-trailer combination |
DE112014004384B4 (en) | 2013-11-18 | 2024-01-11 | Robert Bosch Gmbh | Vector-based driver assistance for towing vehicles |
DE102014202615A1 (en) * | 2014-02-13 | 2015-08-13 | Volkswagen Aktiengesellschaft | System and method for establishing a desired kink angle between a trailer and a tractor |
DE102014204500A1 (en) | 2014-03-12 | 2015-09-17 | Volkswagen Aktiengesellschaft | Method and apparatus for detecting a swing and stabilize a vehicle combination |
DE102015108681A1 (en) * | 2015-06-02 | 2016-12-08 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Method for stabilizing a tractor-trailer combination while driving |
US20180154888A1 (en) * | 2015-06-02 | 2018-06-07 | Knorr-Bremse Systeme Fuer Nutzfahrzeuge Gmbh | Method for stabilizing a tractor vehicle-trailer combination during travel |
US10766482B2 (en) * | 2015-06-02 | 2020-09-08 | Knorr-Bremse Systeme Fuer Nutzfahrzeuge Gmbh | Method for stabilizing a tractor vehicle-trailer combination during travel |
WO2016192855A1 (en) * | 2015-06-02 | 2016-12-08 | Knorr-Bremse Systeme für Nutzfahrzeuge GmbH | Method for stabilizing a tractor vehicle-trailer combination during travel |
DE102018122273A1 (en) * | 2018-09-12 | 2020-03-12 | Wabco Gmbh | Method for determining an unstable behavior of a trailer and method for stabilizing a trailer as well as evaluation unit and vehicle combination |
US11919498B2 (en) | 2018-09-12 | 2024-03-05 | Zf Cv Systems Europe Bv | Method for determining unstable behavior of a trailer and method for stabilizing a trailer, and evaluation unit and vehicle combination |
DE102021121763A1 (en) | 2021-08-23 | 2023-02-23 | Zf Cv Systems Global Gmbh | Method for checking the stability of a combination with a vehicle and control unit for carrying out the method and vehicle or combination with the brake control unit |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP3362331B1 (en) | Method for predictive rollover prevention of a vehicle | |
EP1016572B1 (en) | Device and procedure for stabilising a vehicle coupling consisting of a tractor and a trailer | |
DE102007061836A1 (en) | Vehicle trailer combination stabilizing method, involves determining reference articulation angle and deviation based on preset condition parameter of vehicle trailer combination to determine permissible articulation angle range | |
DE102015008587A1 (en) | Motor vehicle for a piloted driving with a front axle steering system and a rear axle steering system | |
DE102012006206A1 (en) | Method for determining threatening collision between e.g. motor car and trailer, involves detecting position of trailer with respect to towing vehicle, and determining collision between towing vehicle and trailer based on detected position | |
EP1303433B1 (en) | Method and device for stabilizing a road vehicle | |
DE102015108681A1 (en) | Method for stabilizing a tractor-trailer combination while driving | |
DE102012000784A1 (en) | Stabilization of a vehicle combination | |
DE102005003178A1 (en) | Transverse guidance assistance device for vehicle, has arithmetic and logic unit to determine reference lane that is determined from free lane, which is detected by sensor, and safety margin, where free lane is reduced by margin | |
DE102007025969A1 (en) | Method for carrying out a steering operation in a vehicle with a trailer | |
DE102007061835A1 (en) | Towing vehicle and trailer/semi-trailer combination stabilizing method, involves signaling warnings to driver, if actual angle lies outside permissible angle range and within extended angle range | |
DE102019209380A1 (en) | Method and device for stabilizing a trailer combination and control device | |
DE102007007442A1 (en) | Steering moment manipulation method for steering system of vehicle, involves producing auxiliary moment during obtaining maximum steering angle or steering wheel angle value resulting from transverse dynamic evaluation | |
DE102008013988A1 (en) | Evasive maneuver process for motor vehicle involves use of front and rear wheel steering functions combined so that front and rear wheels are steered in same direction | |
DE10310942B4 (en) | Steering device for vehicles with a freely steerable by lateral forces pair of wheels | |
DE102016000306A1 (en) | A stabilization system for reducing hitching vibrations in a trailer with a towing vehicle and trailer towed trailer, and method and computer program product for operating that stabilization system | |
DE102013009399A1 (en) | Method for detecting a critical driving situation of a vehicle | |
DE102011122535A1 (en) | Device for a vehicle having a rear axle steering system and method for operating a motor vehicle | |
DE102015011704B4 (en) | Oversteer assistant and method for oversteering a vehicle | |
DE102009006211A1 (en) | Driving dynamics control system of a two-lane motor vehicle | |
WO2010089061A1 (en) | Method for controlling a lane-tracking assistant and lane-tracking assistant | |
DE10335738A1 (en) | Vehicle driver assistance method for emergency braking process, warning driver about high, medium or low risk of collision depending on position and traveling speed of detected obstacle | |
DE19723841B4 (en) | Motor vehicle and method for operating a motor vehicle with a device for controlling centrifugal movements | |
WO2016041787A1 (en) | Method and device for compensating a self-steering behavior of a vehicle | |
DE102010041108A1 (en) | Parking assistant method for assisting driver of vehicle during parking, involves selectively initiating stopping of aiding of parking process of vehicle based on analyzed steering intervention of steering wheel |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
R119 | Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee | ||
R119 | Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal fee |
Effective date: 20140701 |