EP2013053A1 - Method for the dynamic calibration and regulation of a motor vehicle brake system - Google Patents
Method for the dynamic calibration and regulation of a motor vehicle brake systemInfo
- Publication number
- EP2013053A1 EP2013053A1 EP07728420A EP07728420A EP2013053A1 EP 2013053 A1 EP2013053 A1 EP 2013053A1 EP 07728420 A EP07728420 A EP 07728420A EP 07728420 A EP07728420 A EP 07728420A EP 2013053 A1 EP2013053 A1 EP 2013053A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- req
- sub
- determined
- delay
- 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- Withdrawn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 31
- 238000005259 measurement Methods 0.000 claims abstract description 3
- 238000012886 linear function Methods 0.000 claims description 2
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 230000001133 acceleration Effects 0.000 description 5
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000001934 delay Effects 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000007704 transition 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
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
- B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
-
- 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
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
Definitions
- the invention relates to the field of motor vehicle brakes, which are activated by a vehicle control or vehicle control and actuated by the driver, and in particular relates to a method and an apparatus for carrying out the method with the features of the preamble of claim 1.
- Adaptive Cruise Control controls the speed of the vehicle and the distance to other moving vehicles. They are currently used for driving on highways and well-structured country roads. This allows a column drive with adjacent vehicles, which determines the distance and the speed to neighboring vehicles and the driving speed of the vehicle is adapted by braking interventions and engine control interventions that of the adjacent vehicle to allow relief of the driver in dense traffic. chen.
- a distance range between a few meters to a few tens of meters in front of the vehicle is generally covered and, for example, a relative velocity is determined from a Doppler measurement or time derivative of the measured distance value.
- effective adaptive cruise control systems so-called ACC Low Speeed Following Systems (ACC LSF) are known even at lower speeds up to a standstill, which basically allow follow-up driving in jam-like situations.
- ACC LSF ACC Low Speeed Following Systems
- the setting of the specific vehicle deceleration by means of an automatic intervention in the brake control is used in the context of a following and distance control (ACC) in addition to the increase in driving safety in particular the comfort of the driver (assistance function). Therefore, the automatic delay should be sufficiently uniform and comfortable.
- ACC following and distance control
- DE 196 54 769 discloses vehicle control and control systems, such as an ACC system.
- vehicle control and control systems regulate the vehicle speed depending on the previously set desired speed and the distance to the preceding vehicle, which is detected by way of example by means of a nose radar. If the safety distance is too low, the vehicle control and vehicle control system reduces the engine torque and / or brakes the vehicle autonomously. The driver is prompted by appropriate signals for active intervention, if the driving situation requires greater braking.
- the brake system is activated without driver intervention by the vehicle control and vehicle control when the engine torque is insufficient to achieve the required deceleration.
- pumps are used which pump the brake fluid from the circuit of the tandem master cylinder into the circuit which connects the wheels together.
- the main task of a braking system here is to generate the desired or requested deceleration whenever the ACC system requires it and then to precisely achieve the desired deceleration.
- a disadvantage of this interaction between the ACC system and the brake system is that the braking force of the brake system is subject to reduction over time.
- the invention has for its object to provide a method that detects the reduction of the braking force of the vehicle, performs a dynamic calibration and control of the braking system.
- dynamic is defined in this context as a control and calibration that is always based on new, up-to-date data to closely track the behavior of the braking system and the vehicle.
- the invention is particularly well suited for use in heavy-duty brake systems that are exposed to excessive wear, severe thermal or mechanical influences. This object is achieved by a method having the features of claim 1. Dependent claims are directed to preferred embodiments of the invention.
- FIG. 1 shows an example of the deviations between the acceleration required by the ACC system and the vehicle acceleration, ie a req , a ve h-
- FIG. 2 shows an example from which the acceleration a req demanded by the ACC system is shown in comparison with the vehicle acceleration a ve h.
- FIG. 3 shows examples of the ACC system requested pressure p req compared to the vehicle wheel speed .
- the inventive method is divided into four stages of the process. According to the invention, these four process phases are designed in such a way that they can interact with one another in any desired sequence.
- these four process phases are designed in such a way that they can interact with one another in any desired sequence.
- ex- emplarisch a sequential embodiment of erfindungsge- wholesomeen process shown.
- the vehicle drift a ve h and the deceleration a req required by the ACC system are determined and stored at certain measuring instants. After a statistically representative set of measured values has been determined, the deviation a ve h ⁇ a req is calculated and evaluated. An evaluation serves to check whether a new calibration is to be carried out for the vehicle brake system.
- the behavior of the two delays a req and a ve h is used to perform - if necessary - the so-called automatically controlled calibration, since this requires no parameters outside the ACC control stage.
- the desired deceleration is compared directly with the achieved vehicle deceleration, ie on the basis of the difference. It is possible, for example, to use the deviation (a Ve ha re q), as shown in Fig.l, and particularly advantageously the mean of the deviation m de v It is understood that other distance measures and means for the purpose of analyzing the deviation (a ve h-a req ) can be used.
- the calibration in the first process phase consists in a shift of the delay required by the ACC system by a fixed amount m dev .
- m dev 4.10 ⁇ 3 g
- the positive value represents the overreaction of the vehicle, which implies that the immediately following required delay should be postponed:
- This process phase is advantageously used if the standard deviation lies within the specified tolerance limits. Otherwise, a transition is made to a further process phase so that a calibration and regulation can be carried out.
- the complete control of the brake system is used according to the invention, in that the vehicle Taken as a whole compared to the applied pressure is checked.
- the relationship pressure delay can remain linear, even if the parameters have changed significantly.
- an example of unfiltered vehicle deceleration data is given compared to the pressure required by the ACC system.
- the accuracy of the parameters depends to a large extent on the data quality, which means that the data is filtered from the outset. If the vehicle has been newly manufactured, this data is determined by a vehicle that is at the beginning of the entire vehicle running time. Thus, data is available from a faultlessly working vehicle brake system and the parameters determined as a result are stored as default values. The daily determined parameters are compared with the default parameters and an average value is used to avoid the influence of false data recorded during the daily control.
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
Abstract
Description
Claims
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102006020038 | 2006-04-26 | ||
DE102006020043 | 2006-04-26 | ||
DE102006042928 | 2006-09-13 | ||
PCT/EP2007/053964 WO2007122222A1 (en) | 2006-04-26 | 2007-04-23 | Method for the dynamic calibration and regulation of a motor vehicle brake system |
DE102007019381A DE102007019381A1 (en) | 2006-04-26 | 2007-04-23 | Method for dynamic calibration and regulation of a motor vehicle brake system |
Publications (1)
Publication Number | Publication Date |
---|---|
EP2013053A1 true EP2013053A1 (en) | 2009-01-14 |
Family
ID=38235255
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP07728420A Withdrawn EP2013053A1 (en) | 2006-04-26 | 2007-04-23 | Method for the dynamic calibration and regulation of a motor vehicle brake system |
Country Status (4)
Country | Link |
---|---|
US (1) | US20100042305A1 (en) |
EP (1) | EP2013053A1 (en) |
DE (1) | DE102007019381A1 (en) |
WO (1) | WO2007122222A1 (en) |
Families Citing this family (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101943626B (en) * | 2010-08-19 | 2012-08-08 | 吉林大学 | Dynamic calibration device of counter-force roller braking bench based on hydraulic servo |
US11485342B2 (en) * | 2019-04-27 | 2022-11-01 | Mando Corporation | System and method for dynamic brake calibration |
FR3100515B1 (en) * | 2019-09-05 | 2021-09-17 | Renault Sas | Method for controlling an inter-vehicle distance regulation system |
Family Cites Families (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE3325714C2 (en) * | 1983-07-16 | 1985-11-07 | Daimler-Benz Ag, 7000 Stuttgart | Device for braking motor vehicles |
JPH0885431A (en) * | 1994-09-20 | 1996-04-02 | Sumitomo Electric Ind Ltd | Braking force control device for vehicle |
DE19616732B4 (en) * | 1996-04-26 | 2007-02-08 | Robert Bosch Gmbh | Method and device for controlling the brake system of a vehicle |
DE19736759A1 (en) * | 1997-08-23 | 1999-02-25 | Volkswagen Ag | Method for controlling or regulating the deceleration or braking of a motor vehicle |
JP2001199354A (en) * | 2000-01-19 | 2001-07-24 | Mitsubishi Electric Corp | Electric power steering device |
DE10021135B4 (en) * | 2000-04-29 | 2007-08-30 | Bayerische Motoren Werke Ag | Method and device for regulating a predetermined target deceleration of a motor vehicle |
DE10230866A1 (en) * | 2002-07-09 | 2004-01-22 | Continental Teves Ag & Co. Ohg | Monitoring process for motor vehicle retardation prevents overbraking by deactivating active control system if threshold retardation limits are exceeded |
JP4140529B2 (en) * | 2004-02-03 | 2008-08-27 | 株式会社デンソー | Vehicle control device |
-
2007
- 2007-04-23 DE DE102007019381A patent/DE102007019381A1/en not_active Withdrawn
- 2007-04-23 WO PCT/EP2007/053964 patent/WO2007122222A1/en active Application Filing
- 2007-04-23 EP EP07728420A patent/EP2013053A1/en not_active Withdrawn
- 2007-04-23 US US12/298,163 patent/US20100042305A1/en not_active Abandoned
Non-Patent Citations (1)
Title |
---|
See references of WO2007122222A1 * |
Also Published As
Publication number | Publication date |
---|---|
DE102007019381A1 (en) | 2007-11-22 |
WO2007122222A1 (en) | 2007-11-01 |
US20100042305A1 (en) | 2010-02-18 |
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Legal Events
Date | Code | Title | Description |
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PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
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17P | Request for examination filed |
Effective date: 20081126 |
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AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IS IT LI LT LU LV MC MT NL PL PT RO SE SI SK TR |
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AX | Request for extension of the european patent |
Extension state: AL BA HR MK RS |
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17Q | First examination report despatched |
Effective date: 20090320 |
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DAX | Request for extension of the european patent (deleted) | ||
RBV | Designated contracting states (corrected) |
Designated state(s): DE FR HU IT |
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RAP1 | Party data changed (applicant data changed or rights of an application transferred) |
Owner name: CONTINENTAL TEVES AG & CO. OHG |
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STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN |
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18D | Application deemed to be withdrawn |
Effective date: 20091001 |