EP1758775A1 - Method and device for suppressing a lateral tendency to overturn of a vehicle - Google Patents
Method and device for suppressing a lateral tendency to overturn of a vehicleInfo
- Publication number
- EP1758775A1 EP1758775A1 EP05762874A EP05762874A EP1758775A1 EP 1758775 A1 EP1758775 A1 EP 1758775A1 EP 05762874 A EP05762874 A EP 05762874A EP 05762874 A EP05762874 A EP 05762874A EP 1758775 A1 EP1758775 A1 EP 1758775A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- threshold
- tilt
- tendency
- lateral acceleration
- 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- Withdrawn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 19
- 230000001133 acceleration Effects 0.000 claims abstract description 27
- 230000003068 static effect Effects 0.000 claims abstract description 8
- 230000002596 correlated effect Effects 0.000 claims abstract 5
- 230000001419 dependent effect Effects 0.000 claims description 3
- 230000000903 blocking effect Effects 0.000 claims description 2
- 230000003111 delayed effect Effects 0.000 claims 1
- 230000002265 prevention Effects 0.000 claims 1
- 230000005484 gravity Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000003213 activating effect Effects 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000036039 immunity Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—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
- B60T8/17554—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for enhancing stability around the vehicles longitudinal axle, i.e. roll-over prevention
-
- 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
- B60T2220/00—Monitoring, detecting driver behaviour; Signalling thereof; Counteracting thereof
- B60T2220/03—Driver counter-steering; Avoidance of conflicts with ESP control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
- B60T2230/03—Overturn, rollover
Definitions
- the present invention relates to a method for suppressing a lateral tendency to tilt of at least two-axle and at least two-lane vehicle in which maximum brake pressures are applied to prevent tilting in the wheel brakes of the vehicle when exceeding a first threshold of correlating with a vehicle lateral acceleration dynamic and / or static magnitude the threshold represents a value at which there is a risk of tipping when the vehicle is loaded in any way.
- DE-A 197 46 889 a system for increasing the lateral stability during cornering is described, which is equipped with a tilt detection device.
- This tilt detection device measures either the height difference between the right and left side of the vehicle or the lateral acceleration of the vehicle in order to detect the roll angle between the vehicle horizontal and the roadway horizontal. If a tilting danger is detected by the tilt detection device, a counter-rotating yaw moment is generated by braking the outside front wheel.
- the permissible lateral acceleration and the permissible roll angle are dependent on the position, in particular the height of the vehicle center of gravity.
- the present invention is therefore an object of the invention to provide a method and apparatus which, taking into account also unfavorable loading counteract a risk of tipping as needed and reduce the inconvenience of the driver when unnecessarily initiated braking interventions.
- This object is achieved by a generic method in that a second threshold of correlating with the vehicle lateral acceleration size or a lateral acceleration variable is provided, when exceeded low braking pressures are controlled, and the second threshold is lower than the first threshold and in which the the vehicle lateral acceleration correlating magnitude or the lateral acceleration represents a low tilt tilt level.
- this object is also achieved by a generic device in that the device actuates the braking device so that the vehicle is decelerated without a noticeable yaw moment change by braking when the tilting tilt exceeds a second threshold representing a relatively low tilting tilt level and the device the brake means is actuated to provide the vehicle with yaw moment counteracting yaw moment when the tilt tilt magnitude exceeds a predetermined first threshold greater than the second threshold and representing a relatively high pitch tilt level.
- the controlled reduction of the transverse forces of at least one vehicle wheel takes place via a moment opposing the tilting tendency.
- this intervention may be less "hard” due to the Pre ARP control, which limits the tire-transmittable lateral force and the roll angle of the vehicle is kept within the non-critical range using a vehicle-specific modeling, in the simplest case with a stored characteristic table , the approach to a tipping-endangered state is detected and active on at least the outer wheel of the front axle slowed down so much that it comes to a significant understeer (but less strong than without Pre ARP).
- the ARP system considers two possible driving states in which a vehicle turns over: static maneuvers and maneuvers with high vehicle dynamics.
- static maneuver the vehicle travels in curves with a constant radius and an increasing vehicle speed or with a decreasing radius and a constant speed (with possibly high road friction).
- the effect is the same, an increasing lateral acceleration.
- Only a few vehicles with an unfavorable ratio of track width and center of gravity tend to roll over slowly.
- the ARP system reduces the risk of rollover by reducing the torque of the motor (so that no further vehicle acceleration is possible) and / or engaging the brakes (to reduce the actual vehicle speed), thereby limiting the lateral acceleration of the vehicle.
- Typical maneuvers are "fishhook" and double lane changes, which are characterized by high steering dynamics (with possibly high road friction), and several vehicles tend to roll over, depending on the track width and the center of gravity height as well as the damping.
- the dynamic ARP system prevents a vehicle from overturning during high dynamic maneuvers, as disclosed in EP 133 40 17 A1.
- the correlating variable is the lateral acceleration itself, the steering angle velocity, the steering wheel angular velocity, the yaw rate and / or the control deviation of the vehicle formed from the measured yaw rate and the nominal yaw rate calculated in a vehicle model and / or derivatives of the magnitude
- the correlating variable considered for the measures for preventing tilting can consist of one or more of these signals, wherein in particular an evaluation of the lateral acceleration and the steering angle or steering wheel angular velocity with respect to the static and dynamic states of the vehicle is provided.
- the content of EP 133 40 17 A1 describing a dynamic driving maneuver and the content of EP 140 45 53 A1 describing a quasi-stationary driving maneuver are part of the present method and the device according to the invention.
- the correlating variable is a function of the vehicle lateral acceleration and its time derivative.
- the vehicle is decelerated when exceeding the second, lower threshold value without noticeable tilting change by the braking and is provided when exceeding the first threshold with a tendency to tilt counteracting yaw moment that is implemented at least on the Bremstikein facedung in the wheel brake of the kuvenäußeren wheel. Since an impressed yaw moment also leads to a slight, barely perceptible understeering tendency of the vehicle, this tendency to understeer can already be triggered by such preliminary braking, which occurs at a relatively low level Level of tilting tendency is checked, which is checked by means of the second threshold.
- this slight tendency to understeer can be conveniently generated by braking the outside front and the outside rear wheels.
- a change-dynamic maneuver is the so-called "fishhook" movement with a strong rolling moment effect.
- the maneuver requires the driver to steer an angle of 270 degrees as quickly as possible and then steer 870 degrees in the opposite direction as quickly as possible.
- the trajectory of a typical fishhook maneuver is shown in FIG.
- the vehicle drives a wide curve with high speed and high lateral acceleration (8-9 m / ss), see position a). In this driving situation, the driver performs a fast and dangerous counter steering, which causes the vehicle to overturn.
- the controller has a change maneuver recognition, for example, in accordance with the explanations in EP 133 40 17 A1, via which early intervention possibly also takes place on two wheels with lowered ARP entry thresholds. Due to the change maneuver recognition the effects in the vehicle guidance are small.
- the first threshold value can be exceeded in order to reliably prevent tipping when the vehicle load of any kind is permissible.
- the Pre_ARP mode is started depending on the signals used for ARP activation.
- the second threshold for activating the Pre_ARP mode is well below the first threshold for ARP admission.
- the dimensioning, as well as the assignment of the meshing wheel of the pressure structure to be controlled is determined by the e.g. made known from DE 101 30 663 (P 10149) known algorithm.
- a vehicle-dependent weighting factor which is between 0.2 and 0.8
- an adjustment to the vehicle-specific values can be made.
- a limitation of the absolute brake pressure which can be monitored model-based or sensor-supported, is provided in order to limit the height of the brake pressure to be introduced into at least one wheel when the second threshold is reached or exceeded.
- the brake pressure to be controlled is 25% of the blocking pressure level. The pressure level applied by this method slightly reduces the dynamics of the vehicle (as experiments with the algorithm of the P 10149 have shown), but influence the tilt tendency significantly.
- Another positive effect of the Pre_ARP mode is the reduction of the car's roll-back, which is not negligible in these maneuvers, which has a particularly negative effect in the initial range of a highly dynamically desired pressure build-up.
- the slightly lower dynamics of the vehicle (due to the vehicle deceleration) due to the Pre_ARP mode as well as the volume absorption of the brake system (of the "affected" wheel) already in the linear range make it possible to perform the actual (hard) ARP intervention with maximum system dynamics. at a higher first threshold. This results in a higher interference immunity for Fehlanregelitch.
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102004030891 | 2004-06-25 | ||
PCT/EP2005/052965 WO2006000574A1 (en) | 2004-06-25 | 2005-06-24 | Method and device for suppressing a lateral tendency to overturn of a vehicle |
Publications (1)
Publication Number | Publication Date |
---|---|
EP1758775A1 true EP1758775A1 (en) | 2007-03-07 |
Family
ID=34979836
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP05762874A Withdrawn EP1758775A1 (en) | 2004-06-25 | 2005-06-24 | Method and device for suppressing a lateral tendency to overturn of a vehicle |
Country Status (4)
Country | Link |
---|---|
US (1) | US20080133101A1 (en) |
EP (1) | EP1758775A1 (en) |
DE (1) | DE112005001346A5 (en) |
WO (1) | WO2006000574A1 (en) |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102006047652A1 (en) * | 2006-05-19 | 2007-11-22 | Robert Bosch Gmbh | Method for improving the tilting behavior of vehicles by rear axle interventions |
US8019514B2 (en) * | 2007-02-28 | 2011-09-13 | Caterpillar Inc. | Automated rollover prevention system |
WO2008157482A1 (en) * | 2007-06-15 | 2008-12-24 | Cadec Global, Inc. | System and method for predicting vehicle rollover using position tracking |
DE102008041586A1 (en) * | 2008-08-27 | 2010-03-04 | Robert Bosch Gmbh | Method and device for preventing lateral overturning of motor vehicles |
DE102009000922A1 (en) * | 2009-02-17 | 2010-08-19 | Robert Bosch Gmbh | Method for vehicle stabilization with integrated anti-tipping feature |
US9050997B1 (en) | 2010-08-31 | 2015-06-09 | Michael R. Schramm | Rollover prevention apparatus |
US8634989B1 (en) | 2010-08-31 | 2014-01-21 | Michael R. Schramm | Rollover prevention apparatus |
JP5884237B2 (en) * | 2012-02-21 | 2016-03-15 | オートリブ日信ブレーキシステムジャパン株式会社 | Vehicle behavior control device |
ES2871903T3 (en) | 2014-01-02 | 2021-11-02 | Michael R Schramm | Rollover prevention device |
JP6168479B2 (en) * | 2015-09-30 | 2017-07-26 | マツダ株式会社 | Engine control device |
DE102017001709A1 (en) * | 2017-02-22 | 2018-08-23 | Wabco Gmbh | Method for controlling a vehicle during cornering and roll stability control system |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2003008242A1 (en) * | 2001-07-18 | 2003-01-30 | Robert Bosch Gmbh | Method and device for identifying and eliminating the risk of rollover |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5774821A (en) * | 1994-11-25 | 1998-06-30 | Itt Automotive Europe Gmbh | System for driving stability control |
US5671143A (en) * | 1994-11-25 | 1997-09-23 | Itt Automotive Europe Gmbh | Driving stability controller with coefficient of friction dependent limitation of the reference yaw rate |
DE19503076A1 (en) * | 1995-02-01 | 1996-08-08 | Teves Gmbh Alfred | Method for operating an anti-lock motor vehicle brake system |
JPH0986365A (en) * | 1995-09-21 | 1997-03-31 | Fuji Heavy Ind Ltd | Braking force control device |
JP3257392B2 (en) * | 1996-02-23 | 2002-02-18 | トヨタ自動車株式会社 | Vehicle behavior control device |
DE19607185A1 (en) * | 1996-02-27 | 1997-08-28 | Bayerische Motoren Werke Ag | Procedure for ensuring neutral driving behavior when cornering and simultaneous load changes |
JPH10119743A (en) * | 1996-10-23 | 1998-05-12 | Aisin Seiki Co Ltd | Motion control device for vehicle |
JPH10315945A (en) * | 1997-05-20 | 1998-12-02 | Toyota Motor Corp | Stable running controller of vehicle |
DE19830189A1 (en) * | 1998-05-14 | 1999-11-18 | Continental Teves Ag & Co Ohg | Method of improving tilt stability of motor vehicle |
DE10046036A1 (en) * | 2000-09-18 | 2002-03-28 | Knorr Bremse Systeme | Method for estimating the risk of a vehicle tipping over |
JP2002127887A (en) * | 2000-10-24 | 2002-05-09 | Sumitomo Electric Ind Ltd | Attitude control device of vehicle |
US6498976B1 (en) * | 2000-10-30 | 2002-12-24 | Freightliner Llc | Vehicle operator advisor system and method |
DE10054647A1 (en) * | 2000-11-03 | 2002-05-08 | Daimler Chrysler Ag | Procedure for regulating driving stability |
DE10130663A1 (en) * | 2001-06-28 | 2003-01-23 | Continental Teves Ag & Co Ohg | Method for modifying a driving stability control of a vehicle |
US7107136B2 (en) * | 2001-08-29 | 2006-09-12 | Delphi Technologies, Inc. | Vehicle rollover detection and mitigation using rollover index |
JP4228864B2 (en) * | 2003-09-30 | 2009-02-25 | 三菱ふそうトラック・バス株式会社 | Rollover suppression control device for vehicle |
JP2005271818A (en) * | 2004-03-25 | 2005-10-06 | Mitsubishi Fuso Truck & Bus Corp | Vehicular roll-over suppression control device |
-
2005
- 2005-06-24 DE DE112005001346T patent/DE112005001346A5/en not_active Withdrawn
- 2005-06-24 WO PCT/EP2005/052965 patent/WO2006000574A1/en active Application Filing
- 2005-06-24 EP EP05762874A patent/EP1758775A1/en not_active Withdrawn
- 2005-06-24 US US11/630,591 patent/US20080133101A1/en not_active Abandoned
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2003008242A1 (en) * | 2001-07-18 | 2003-01-30 | Robert Bosch Gmbh | Method and device for identifying and eliminating the risk of rollover |
Also Published As
Publication number | Publication date |
---|---|
WO2006000574A1 (en) | 2006-01-05 |
DE112005001346A5 (en) | 2007-08-02 |
US20080133101A1 (en) | 2008-06-05 |
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Legal Events
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