DE60022737T8 - Vorrichung und Verfahren zur Bestimmung von Fahrzeugbetriebs-und Dynamikparametern - Google Patents

Vorrichung und Verfahren zur Bestimmung von Fahrzeugbetriebs-und Dynamikparametern Download PDF

Info

Publication number
DE60022737T8
DE60022737T8 DE60022737T DE60022737T DE60022737T8 DE 60022737 T8 DE60022737 T8 DE 60022737T8 DE 60022737 T DE60022737 T DE 60022737T DE 60022737 T DE60022737 T DE 60022737T DE 60022737 T8 DE60022737 T8 DE 60022737T8
Authority
DE
Germany
Prior art keywords
vehicle operating
determining vehicle
dynamics parameters
dynamics
parameters
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 - Fee Related
Application number
DE60022737T
Other languages
English (en)
Other versions
DE60022737D1 (de
DE60022737T2 (de
Inventor
Reinhard Weiberle
Matthias Schanzenbach
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of DE60022737D1 publication Critical patent/DE60022737D1/de
Application granted granted Critical
Publication of DE60022737T2 publication Critical patent/DE60022737T2/de
Publication of DE60022737T8 publication Critical patent/DE60022737T8/de
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
    • B60G17/0195—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the regulation being combined with other vehicle control 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
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/05—Attitude
    • B60G2400/051—Angle
    • B60G2400/0511—Roll angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/05—Attitude
    • B60G2400/051—Angle
    • B60G2400/0512—Pitch angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/10—Acceleration; Deceleration
    • B60G2400/102—Acceleration; Deceleration vertical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/10—Acceleration; Deceleration
    • B60G2400/104—Acceleration; Deceleration lateral or transversal with regard to vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/10—Acceleration; Deceleration
    • B60G2400/106—Acceleration; Deceleration longitudinal with regard to vehicle, e.g. braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/20—Speed
    • B60G2400/204—Vehicle speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/20—Speed
    • B60G2400/208—Speed of wheel rotation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/25—Stroke; Height; Displacement
    • B60G2400/252—Stroke; Height; Displacement vertical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/60—Load
    • B60G2400/61—Load distribution
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/60—Load
    • B60G2400/63—Location of the center of gravity
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/80—Exterior conditions
    • B60G2400/82—Ground surface
    • B60G2400/822—Road friction coefficient determination affecting wheel traction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/01—Attitude or posture control
    • B60G2800/019—Inclination due to load distribution or road gradient
    • B60G2800/0192—Inclination due to load distribution or road gradient longitudinal with regard to vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/21—Traction, slip, skid or slide control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/21—Traction, slip, skid or slide control
    • B60G2800/215—Traction, slip, skid or slide control by applying a braking action on each wheel individually
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/22—Braking, stopping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/70—Estimating or calculating vehicle parameters or state variables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/92—ABS - Brake Control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/93—Skid or slide control [ASR]

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Regulating Braking Force (AREA)
DE60022737T 2000-04-17 2000-04-17 Vorrichung und Verfahren zur Bestimmung von Fahrzeugbetriebs-und Dynamikparametern Expired - Fee Related DE60022737T8 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP00107952A EP1147928B1 (de) 2000-04-17 2000-04-17 Vorrichung und Methode zur Bestimmung von statischen und dynamischen Fahrzeugparametern

Publications (3)

Publication Number Publication Date
DE60022737D1 DE60022737D1 (de) 2005-10-27
DE60022737T2 DE60022737T2 (de) 2006-03-16
DE60022737T8 true DE60022737T8 (de) 2006-06-08

Family

ID=8168452

Family Applications (1)

Application Number Title Priority Date Filing Date
DE60022737T Expired - Fee Related DE60022737T8 (de) 2000-04-17 2000-04-17 Vorrichung und Verfahren zur Bestimmung von Fahrzeugbetriebs-und Dynamikparametern

Country Status (3)

Country Link
US (1) US6374171B2 (de)
EP (1) EP1147928B1 (de)
DE (1) DE60022737T8 (de)

Families Citing this family (42)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10148091A1 (de) * 2001-09-28 2003-04-17 Bayerische Motoren Werke Ag Verfahren zur Ermittlung der Masse eines Kraftfahrzeugs unter Berücksichtigung unterschiedlicher Fahrsituationen
WO2003076228A1 (de) * 2002-03-13 2003-09-18 Daimlerchrysler Ag Vorrichtung zum bereitstellen von grössen
DE10215465B9 (de) * 2002-03-28 2017-08-10 Volkswagen Ag Verfahren und Vorrichtung zur Regelung der Fahrdynamik
DE10232792A1 (de) * 2002-07-19 2004-02-12 Wabco Gmbh & Co. Ohg Bremsverfahren für ein Fahrzeug
JP4144789B2 (ja) * 2002-12-06 2008-09-03 株式会社小糸製作所 車両用前照灯の照射方向制御装置
US7316288B1 (en) * 2003-01-27 2008-01-08 Polaris Industries Inc. All terrain vehicle with multiple steering modes
US7278511B1 (en) * 2003-01-27 2007-10-09 Polaris Industries Inc. Controller for steering a vehicle
DE10318110A1 (de) * 2003-04-22 2004-11-11 Continental Aktiengesellschaft Verfahren zur Regelung einer Dämpfung
US7627343B2 (en) * 2003-04-25 2009-12-01 Apple Inc. Media player system
US6694260B1 (en) * 2003-05-09 2004-02-17 Deere & Company Inertial augmentation for GPS navigation on ground vehicles
DE102004019928B4 (de) * 2004-04-21 2017-05-11 Volkswagen Ag Verfahren und Vorrichtung zur Hang- und/oder Steigungserkennung eines Kraftfahrzeuges
JP4471103B2 (ja) * 2004-10-07 2010-06-02 トヨタ自動車株式会社 車両の制駆動力制御装置
DE102005011243A1 (de) * 2005-03-11 2006-09-21 Robert Bosch Gmbh Verfahren und Vorrichtung zur Wankwinkelbestimmung für Insassenschutzvorrichtungen
US7873459B2 (en) * 2005-07-29 2011-01-18 Ford Global Technologies, Llc Load transfer adaptive traction control system
DE102005052251A1 (de) * 2005-11-02 2007-05-03 Robert Bosch Gmbh Verfahren und Vorrichtung zur Wankwinkelbestimmung für Insassenschutzvorrichtungen
US7600826B2 (en) * 2005-11-09 2009-10-13 Ford Global Technologies, Llc System for dynamically determining axle loadings of a moving vehicle using integrated sensing system and its application in vehicle dynamics controls
US8121758B2 (en) * 2005-11-09 2012-02-21 Ford Global Technologies System for determining torque and tire forces using integrated sensing system
US7599779B2 (en) * 2006-03-08 2009-10-06 Yamaha Hatsudoki Kabushiki Kaisha Acceleration estimation device and vehicle
US7632114B2 (en) * 2006-03-30 2009-12-15 Apple Inc. Interface connecter between media player and other electronic devices
DE102006053102A1 (de) * 2006-11-10 2008-05-15 Robert Bosch Gmbh Verbesserung des Lenkkomforts bei Querfahrten auf geneigten Flächen
US7779947B2 (en) * 2007-01-31 2010-08-24 Caterpillar Inc Acceleration based automated slip control system
US20100094495A1 (en) * 2007-03-05 2010-04-15 Yokohama National University Pitching control device of motor vehicle and control method
WO2008157482A1 (en) * 2007-06-15 2008-12-24 Cadec Global, Inc. System and method for predicting vehicle rollover using position tracking
DE102007045572B4 (de) * 2007-09-24 2021-12-09 Robert Bosch Gmbh Verfahren zur Reduzierung der Kippgefahr bei Fahrzeugen
US20100017070A1 (en) * 2008-07-15 2010-01-21 Ford Global Technologies, Llc Stability control and inclined surface control using a common signal source
FR2933905A3 (fr) * 2008-07-16 2010-01-22 Renault Sas Amortisseur de vehicule equipe d'un capteur de position, systeme de detection de la hauteur du chassis d'un vehicule comprenant un tel amortisseur et utilisation de ce systeme
US8326487B2 (en) * 2008-11-21 2012-12-04 GM Global Technology Operations LLC Estimation of wheel normal force and vehicle vertical acceleration
JP5285421B2 (ja) * 2008-12-26 2013-09-11 ヤマハ発動機株式会社 鞍乗型車両
USRE49776E1 (en) * 2010-10-26 2024-01-02 Koito Manufacturing Co., Ltd. Vehicle lamp controller, vehicle lamp system, and vehicle lamp control method
USD689794S1 (en) 2011-03-21 2013-09-17 Polaris Industries Inc. Three wheeled vehicle
EP3326896A1 (de) 2011-03-21 2018-05-30 Polaris Industries Inc. Dreirädriges fahrzeug
US8725377B2 (en) * 2011-03-30 2014-05-13 Nissin Kogyo Co., Ltd. Control device for controlling drive force that operates on vehicle
DE102013005991B4 (de) * 2012-12-28 2020-01-23 Bomag Gmbh Verfahren und Vorrichtung zur Ermittlung des Lenkwinkels einer richtungssteuerbaren Maschine
US9043095B2 (en) 2013-06-26 2015-05-26 GM Global Technology Operations LLC User programmable motor vehicle driving parameter control system
DE102014226704A1 (de) * 2014-12-19 2016-06-23 Continental Teves Ag & Co. Ohg Bremsverfahren bei Not- beziehungsweise Vollbremsung
US9963155B2 (en) 2015-05-29 2018-05-08 Clearpath Robotics, Inc. Method, system and apparatus for path control in unmanned vehicles
US10585440B1 (en) 2017-01-23 2020-03-10 Clearpath Robotics Inc. Systems and methods for using human-operated material-transport vehicles with fleet-management systems
US11097736B2 (en) * 2017-02-28 2021-08-24 Clearpath Robotics Inc. Systems and methods for traction detection and control in a self-driving vehicle
US20220041167A1 (en) * 2018-10-10 2022-02-10 Sony Corporation Information processing apparatus, mobile apparatus, method, and program
US11390277B2 (en) 2018-11-30 2022-07-19 Clearpath Robotics Inc. Systems and methods for self-driving vehicle collision prevention
DE102019003238B4 (de) * 2019-05-08 2023-04-20 Mercedes-Benz Group AG Fahrzeugortung durch Kartenabgleich unter Berücksichtigung eines Straßenprofils
US11649147B2 (en) 2019-09-20 2023-05-16 Clearpath Robotics Inc. Autonomous material transport vehicles, and systems and methods of operating thereof

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0829650B2 (ja) * 1988-06-10 1996-03-27 日産自動車株式会社 能動型サスペンション
US5183127A (en) * 1989-09-13 1993-02-02 Mazda Motor Corporation Suspension-traction total control system
JPH03167060A (ja) * 1989-11-28 1991-07-18 Mitsubishi Motors Corp アンチスキッドブレーキング方法
DE4039629A1 (de) 1990-12-12 1992-06-17 Bosch Gmbh Robert System zur erzeugung von signalen zur steuerung oder regelung eines steuerbaren oder regelbaren fahrwerkes
DE4201146C2 (de) * 1991-01-18 2003-01-30 Hitachi Ltd Vorrichtung zur Steuerung des Kraftfahrzeugverhaltens
JPH0597024A (ja) * 1991-10-08 1993-04-20 Honda Motor Co Ltd ブレーキ制御方法
DE4228414B4 (de) 1992-08-26 2006-11-16 Robert Bosch Gmbh Verfahren und Vorrichtung zur Aufbereitung von Sensorsignalen

Also Published As

Publication number Publication date
EP1147928A1 (de) 2001-10-24
DE60022737D1 (de) 2005-10-27
US6374171B2 (en) 2002-04-16
US20020013651A1 (en) 2002-01-31
EP1147928B1 (de) 2005-09-21
DE60022737T2 (de) 2006-03-16

Similar Documents

Publication Publication Date Title
DE60022737T8 (de) Vorrichung und Verfahren zur Bestimmung von Fahrzeugbetriebs-und Dynamikparametern
DE60103180D1 (de) Verfahren und vorrichtung zur überkritischen nassoxidation von stoffen
DE60215063D1 (de) Anlage und Verfahren zur Bestimmung von Bildübereinstimmung
DE50012364D1 (de) Verfahren und terminal zur eingabe von instruktionen
DE69927321D1 (de) Gerätesteuerungseinrichtung und Verfahren zur Bestimmung des Gerätes
DE60043034D1 (de) Verfahren und Zusammensetzung zur Entfernung von Photoresistschichten
DE60133166D1 (de) Verfahren und Vorrichtung zur Volumendarstellung
DE69903497T2 (de) Verfahren und Vorrichtung zur Unterdrückung von Resonanz
DE60144121D1 (de) Verfahren und Vorrichtung zur Bremssteuerung von Kraftfahrzeugen
DE60214102D1 (de) System und Verfahren zur Verminderung von SAR-Werten
DE69940804D1 (de) Verfahren und vorrichtung zur unterdrückung von abklingartefakten
DE60042184D1 (de) Verfahren und Zusammensetzung zur Entschichtung von Photoresist
DE60306819D1 (de) Verfahren und System zur Bestimmung von Gaskomponenten
DE50006193D1 (de) Verfahren zur herstellung von otoplastiken und otoplastik
DE69826591D1 (de) Verfahren und Vorrichtung zur Bestimmung des Formationsdrucks
DE602004006609D1 (de) Verfahren und system zur bestimmung von fahrzeugzuständen
DE60040239D1 (de) Verfahren und vorrichtung zur bestimmung von mineralischen bestandteilen in blattförmigem material
DE59913841D1 (de) EEPROM und Verfahren zur Ansteuerung eines EEPROM
DE60022738T8 (de) Vorrichtung und Verfahren zur Bestimmung von Fahrzeugbetriebs-und Dynamikparametern
DE50109658D1 (de) Vorrichtung und Verfahren zur Sprachsteuerung
DE60122605D1 (de) Vorrichtung und Verfahren zur Bremssteuerung von Kraftfahrzeugen
DE60116195D1 (de) Vorrichtung und Verfahren zur Verschleierung von Eingangsparametern
DE50015719D1 (de) Elektrochemischer gassensor und verfahren zur bestimmung von gaskomponenten
DE50115047D1 (de) Verfahren und Vorrichtung zur Stabilitätsbeeinflussung von Kraftfahrzeugen
DE60209582D1 (de) Vorrichtung und Verfahren zur Durchführung von Immunoanalysen

Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee