DE102013200024A1 - 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 - Google Patents
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 Download PDFInfo
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- DE102013200024A1 DE102013200024A1 DE201310200024 DE102013200024A DE102013200024A1 DE 102013200024 A1 DE102013200024 A1 DE 102013200024A1 DE 201310200024 DE201310200024 DE 201310200024 DE 102013200024 A DE102013200024 A DE 102013200024A DE 102013200024 A1 DE102013200024 A1 DE 102013200024A1
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- steering
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- motor car
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- 238000001514 detection method Methods 0.000 title claims abstract description 5
- 230000001133 acceleration Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000000087 stabilizing effect Effects 0.000 description 2
- 241000270272 Coluber Species 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 238000009527 percussion Methods 0.000 description 1
- 229920006395 saturated elastomer Polymers 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
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Classifications
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- 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
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
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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
- 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
- B60W2520/14—Yaw
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
Description
Die vorliegende Erfindung betrifft einen Gegenlenkassistenten für ein Kraftfahrzeug.The present invention relates to a countersteering assistant for a motor vehicle.
Das Ausbrechen eines Fahrzeughecks (z. B. hervorgerufen durch Gasgeben auf rutschiger Fahrbahn mit Hinterachsantrieb) führt zu einer Seitenkraftzunahme der Vorderreifen, da sich diese mit dem Fahrzeug eindrehen und sich zwangsweise die vorderen Schräglaufwinkel erhöhen. Durch diese Rückkopplung entsteht eine Verstärkung der Drehbewegung (Übersteuern), so dass das Fahrzeug ohne Gegenlenken des Fahrers instabil würde.The breaking of a rear of the vehicle (eg caused by accelerating on slippery roads with rear axle drive) leads to a lateral force increase of the front tires, as they screw in with the vehicle and forcibly increase the front slip angles. This feedback creates an amplification of the rotational movement (oversteer), so that the vehicle would become unstable without countersteering the driver.
Ebenso kritisch sind Situationen, in denen das Fahrzeug in der Kurve über einen rutschigen Untergrund fährt, so dass das Fahrzeug über die Vorderräder schiebt, welche vom Fahrer immer weiter eingelenkt werden, um die Fahrbahn nicht zu verlassen. Treffen die Vorderräder in diesem Zustand dann auf einen griffigen Untergrund, vollführt das Fahrzeug schlagartig eine übersteuernde Bewegung, welche nur von geübten Fahrern rechtzeitig erkannt und durch frühzeitiges Gegenlenken abgefangen werden kann.Equally critical are situations in which the vehicle travels over a slippery surface in the curve, so that the vehicle pushes over the front wheels, which the driver always steers further in order not to leave the road. Meet the front wheels in this state then on a grippy surface, the vehicle performs abruptly an oversteering movement, which can only be recognized in good time by experienced drivers and intercepted by early countersteering.
Um diese Situationen besser zu beherrschen sind dynamische Stabilitätskontrollsysteme vorgesehen, welche bei einem bewegten Kraftfahrzeug stark unter- oder übersteuernde Fahrzustände erkennen und durch gezielte Einzelradbremsungen neutralisieren.In order to better master these situations, dynamic stability control systems are provided which detect strongly under- or oversteering driving conditions in a moving motor vehicle and neutralize them by targeted individual wheel braking.
In manchen Fällen ist ein Stabilisieren des Fahrzeugs durch einen Eingriff des dynamischen Stabilitätskontrollsystems jedoch nur begrenzt möglich, da das erforderliche Gegenmoment durch Einzelradbremsung nicht ausreicht, die Situation zu entschärfen.In some cases, however, stabilization of the vehicle by an intervention of the dynamic stability control system is only possible to a limited extent since the required counter-torque due to individual wheel braking is insufficient to defuse the situation.
Darüber hinaus muss, um dem beschränkten Gegenmoment Rechnung zu tragen, der Bremseingriff sehr früh erfolgen, was insbesondere sportliche Kraftfahrer im Grenzbereich stört.In addition, in order to take account of the limited counter-moment, the braking intervention must be done very early, which bothers especially sporty drivers in the border area.
Es ist daher Aufgabe der vorliegenden Erfindung hier Abhilfe zu schaffen.It is therefore an object of the present invention to remedy this situation.
Diese Aufgabe wird bei einem Gegenlenkassistent für ein Kraftfahrzeug erfindungsgemäß dadurch gelöst, dass der Gegenlenkassistent bei Erkennen einer schnellen Gierbewegungszunahme ein Lenkmoment/Lenkwinkel erzeugt, welches/welcher automatisch einen Großteil der Gierbewegung des Kraftfahrzeuges kompensiert, indem es ein automatisches Gegenlenken veranlasst.This object is achieved according to the invention in a countersteering assistant for a motor vehicle in that the countersteering assistant generates a steering torque / steering angle upon detection of a rapid increase in yaw rate, which automatically compensates for a large part of the yawing motion of the motor vehicle by causing automatic countersteering.
Durch die erfindungsgemäßen Maßnahmen kann infolge des Gegenlenkens die vor dem Eingriff eingeschlagene Kurskrümmung oder die Krümmung der Fahrbahn (digitale Karte, Fahrspurdetektion) näherungsweise fortgesetzt werden und der Fahrer hat Zeit, wieder die Kontrolle über das Fahrzeug zurück zu gewinnen.Due to the measures according to the invention, as a result of the counter-steering, the course curvature taken before the intervention or the curvature of the roadway (digital map, lane detection) can be approximately continued and the driver has time to regain control of the vehicle.
Das Gegenlenken kann ebenfalls bei starkem Beschleunigen ohne nennenswerte Krümmung erfolgen. Wird nämlich bei hochmotorisierten Fahrzeugen mit Vollgas beschleunigt, fehlt dem Fahrzeug die stabilisierende Querkraft der stark schlupfenden Hinterachse. Während erfahrene Rennfahrer durch kleine Lenkkorrekturen das Fahrzeug dennoch auf Kurs halten, droht dem ungeübten Fahrer das Aufschaukeln des Fahrzeugs (Schleudern). Auch hier greift das beschriebene System derart ein, dass durch kleinste Lenkkorrekturen der Kurs trotz der fehlenden Führungskräfte der Hinterachse das Fahrzeug sicher in der Spur liegt, und der Fahrer häufig die Eingriffe nicht einmal bemerkt.The countersteering can also be done with strong acceleration without appreciable curvature. Namely, if accelerated at high power vehicles at full throttle, the vehicle lacks the stabilizing lateral force of the heavily slipping rear axle. While experienced racers keep the vehicle still on course by small steering corrections, the inexperienced driver threatens the rocking of the vehicle (skidding). Here, too, the described system intervenes in such a way that by the smallest steering corrections of the course, despite the lack of executives of the rear axle, the vehicle is safely on track, and the driver often does not even notice the interventions.
Eine vorteilhafte Weiterbildung enthält der Unteranspruch. Danach ist der erfindungsgemäße Gegenlenkassistent vorteilhafterweise derart ausgebildet, dass das Gegenlenken so ausgelegt ist, dass die Pendelbewegung des Fahrzeughecks aktiv gedämpft wird.An advantageous development of the dependent claim. Thereafter, the counter-steering assistant according to the invention is advantageously designed such that the counter-steering is designed so that the pendulum motion of the rear of the vehicle is actively damped.
Darüber hinaus ist die Kombination mit aktiven Bremseingriffen, also im herkömmlichen Sinne von Stabilitätsprogrammen, vorteilhaft, um die Pendelbewegung des Hecks abzufangen.In addition, the combination with active brake interventions, so in the conventional sense of stability programs, advantageous to intercept the pendulum movement of the rear.
Eine weitere Kombinationsmöglichkeit stellt der Einsatz der Hinterradlenkung dar. Diese kann ebenfalls dazu eingesetzt werden, die durch das automatische Gegenlenken auftretende Pendelbewegung des Fahrzeugs frühzeitig aktiv zu dämpfen. Dies geschieht dadurch, dass bei Sättigung der hinteren Reifen der zugehörige Schräglaufwinkel so reduziert wird, dass der Reifen wieder Querkraft aufbaut und dadurch der Pendelbewegung entgegen wirkt.Another possible combination is the use of the rear-wheel steering. This can also be used to actively attenuate the pendulum movement of the vehicle occurring by the automatic countersteering early on. This happens because when the rear tires are saturated, the associated slip angle is reduced so that the tire again builds up transverse force and thereby counteracts the pendulum motion.
Zur Stabilisierung der Fahrkurskrümmung eignet sich prinzipiell die instantane Krümmung eines jeden fahrzeugfesten Referenzpunkts. Als vorteilhaft erweist sich jedoch das sog. Zentrum der Perkussion (engl. center of percussion), welches sich im Abstand
Insgesamt wird von der vorgeschlagenen Maßnahme sowohl die Sicherheit der Fahrzeuginsassen in kritischen Situationen erhöht als auch der Zeitpunkt von Eingriffen bei sportlicher Fahrerweise an der Grenze der Fahrphysik nach hinten verschoben.Overall, the proposed measure both increases the safety of the vehicle occupants in critical situations and also shifts the timing of interventions in sporty driving at the frontier of driving physics backwards.
Ein schleuderndes Fahrzeug
Claims (2)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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DE201310200024 DE102013200024A1 (en) | 2013-01-02 | 2013-01-02 | 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 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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DE201310200024 DE102013200024A1 (en) | 2013-01-02 | 2013-01-02 | 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 |
Publications (1)
Publication Number | Publication Date |
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DE102013200024A1 true DE102013200024A1 (en) | 2014-07-03 |
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Family Applications (1)
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DE201310200024 Withdrawn DE102013200024A1 (en) | 2013-01-02 | 2013-01-02 | 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 |
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DE (1) | DE102013200024A1 (en) |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3817540A1 (en) * | 1988-05-24 | 1989-11-30 | Rehm Michael Dipl Ing | Motor vehicle active safety chassis |
DE102005041959A1 (en) * | 2005-09-03 | 2007-03-08 | Bayerische Motoren Werke Ag | 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 |
DE102006035338A1 (en) * | 2005-10-11 | 2007-05-03 | Toyota Jidosha Kabushiki Kaisha, Toyota | Vehicle e.g. automobile, has control device for automatic reduction of steering angle of wheels, where angles reduction is reduced based on counter steering operation of driver, when driver executes operation, while device reduces angles |
DE102007037765A1 (en) * | 2007-08-10 | 2009-02-19 | Audi Ag | Motor vehicle, has front wheels that are controlled over steering wheel, and back wheels that are adjusted independent of steering angle of front wheels in reverse manner when vehicle is reversed |
DE102007045211A1 (en) * | 2007-09-21 | 2009-04-09 | Ford Global Technologies, LLC, Dearborn | Yaw damping by means of an electric power steering |
DE102008021531A1 (en) * | 2008-04-30 | 2009-11-05 | Ford-Werke Gmbh | Motor vehicle's stability controlling device, has actuators for influence of vehicle dynamics, and distribution unit for parallel control of actuators according to requirements by yaw rate-control units and by transverse speed control unit |
DE102010037417B3 (en) * | 2010-09-09 | 2011-12-01 | Ford Global Technologies, Llc. | Severeness subscript forming method for vehicle, involves acquiring steering angle velocity, and forming difference between acquired steering angle velocity and constant and severeness subscript by integrating difference over time |
-
2013
- 2013-01-02 DE DE201310200024 patent/DE102013200024A1/en not_active Withdrawn
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3817540A1 (en) * | 1988-05-24 | 1989-11-30 | Rehm Michael Dipl Ing | Motor vehicle active safety chassis |
DE102005041959A1 (en) * | 2005-09-03 | 2007-03-08 | Bayerische Motoren Werke Ag | 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 |
DE102006035338A1 (en) * | 2005-10-11 | 2007-05-03 | Toyota Jidosha Kabushiki Kaisha, Toyota | Vehicle e.g. automobile, has control device for automatic reduction of steering angle of wheels, where angles reduction is reduced based on counter steering operation of driver, when driver executes operation, while device reduces angles |
DE102007037765A1 (en) * | 2007-08-10 | 2009-02-19 | Audi Ag | Motor vehicle, has front wheels that are controlled over steering wheel, and back wheels that are adjusted independent of steering angle of front wheels in reverse manner when vehicle is reversed |
DE102007045211A1 (en) * | 2007-09-21 | 2009-04-09 | Ford Global Technologies, LLC, Dearborn | Yaw damping by means of an electric power steering |
DE102008021531A1 (en) * | 2008-04-30 | 2009-11-05 | Ford-Werke Gmbh | Motor vehicle's stability controlling device, has actuators for influence of vehicle dynamics, and distribution unit for parallel control of actuators according to requirements by yaw rate-control units and by transverse speed control unit |
DE102010037417B3 (en) * | 2010-09-09 | 2011-12-01 | Ford Global Technologies, Llc. | Severeness subscript forming method for vehicle, involves acquiring steering angle velocity, and forming difference between acquired steering angle velocity and constant and severeness subscript by integrating difference over time |
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R005 | Application deemed withdrawn due to failure to request examination |