EP3490855A1 - Système de commande à base de logique floue dans un véhicule à moteur pour la commande d'une vitesse dudit véhicule à moteur ou d'une pression de freinage d'un frein du véhicule à moteur - Google Patents

Système de commande à base de logique floue dans un véhicule à moteur pour la commande d'une vitesse dudit véhicule à moteur ou d'une pression de freinage d'un frein du véhicule à moteur

Info

Publication number
EP3490855A1
EP3490855A1 EP17751271.2A EP17751271A EP3490855A1 EP 3490855 A1 EP3490855 A1 EP 3490855A1 EP 17751271 A EP17751271 A EP 17751271A EP 3490855 A1 EP3490855 A1 EP 3490855A1
Authority
EP
European Patent Office
Prior art keywords
fuzzy
brake pressure
motor vehicle
control system
brake
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Withdrawn
Application number
EP17751271.2A
Other languages
German (de)
English (en)
Inventor
Andreas HOEHN
Alexander RAMS
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.)
ZF Active Safety GmbH
Original Assignee
Lucas Automotive 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 Lucas Automotive GmbH filed Critical Lucas Automotive GmbH
Publication of EP3490855A1 publication Critical patent/EP3490855A1/fr
Withdrawn legal-status Critical Current

Links

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
    • B60T8/174—Using electrical or electronic regulation means to control braking characterised by using special control logic, e.g. fuzzy logic, neural computing
    • 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
    • B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
    • 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
    • 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
    • B60T8/176—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS
    • B60T8/1763—Brake regulation specially adapted to prevent excessive wheel slip during vehicle deceleration, e.g. ABS responsive to the coefficient of friction between the wheels and the ground surface
    • 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
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/10—Detection or estimation of road conditions
    • B60T2210/12—Friction
    • B60T2210/122—Friction using fuzzy logic, neural computing
    • 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
    • B60T2250/00—Monitoring, detecting, estimating vehicle conditions
    • B60T2250/03—Vehicle yaw rate

Definitions

  • Fuzzy-based control system in a motor vehicle for controlling a speed of the motor vehicle or a brake pressure of a brake of the motor vehicle
  • a fuzzy-based control system in a motor vehicle for controlling a speed of the motor vehicle or a brake pressure of a brake of the motor vehicle is disclosed.
  • An anti-lock brake system in a motor vehicle prevents one or more wheels of the motor vehicle from locking during a braking operation.
  • This blocking means that although the motor vehicle does not stand still, the wheels do not turn and drag over the ground.
  • the wheel or tire is damaged, but the one or more blocked wheels can not be used for motor vehicle steering. Incidentally, the braking distance is extended because the friction is reduced.
  • the braking process consists of a braking deceleration, which in each motor vehicle depends only on two values, the gravitational acceleration and the adhesion value ⁇ .
  • the purpose of the anti-lock braking system is to set a slippage for the respective subsurface of the vehicle in accordance with a coefficient of adhesion, so that the optimum force can be transmitted to the ground.
  • the force is usually illustrated by a ⁇ -slip curve. This curve has a defined amount of slip to a defined transferable braking force.
  • a fuzzy-based control system in a motor vehicle for controlling a speed.
  • the fuzzy-based control system includes a brake pressure measuring unit, a signal processing unit and a control unit.
  • the brake pressure measuring unit is designed as a finite state machine to measure a current brake pressure of a brake of a wheel of the motor vehicle as a function of a trigger.
  • the signal processing unit is designed to estimate a current adhesion value ⁇ between a tire associated with the wheel and the current background based on the current brake pressure of the brake and further measured values.
  • the estimation includes an inference based on fuzzy rules and fuzzyfication, and subsequently defuzzification of the inference.
  • the control unit is designed to control a speed of the motor vehicle or the brake pressure of the brake based on the estimated actual adhesion value ⁇ .
  • the advantage of this embodiment is that a maximum roadway coefficient can also be determined outside a driving dynamic limit range.
  • Fuzzy based in this context may mean that a fuzzy logic is used.
  • the brake pressure can be continuously measured or measured based on a brake pressure requirement.
  • a finite state machine can be implemented.
  • the finite state machine can assume 4 states. These states can be: idle state, request state, hold state, and ramp state. At rest, the finite state machine may be located when the finite state machine has been triggered externally. This triggering can be done by an upstream ⁇ -estimate. If the upstream ⁇ estimate gives an inaccurate or indefinite value for the ⁇ estimate, triggering may occur. When triggering, the calculation of the adhesion value ⁇ can be triggered. Starting conditions for the calculation of the adhesion value ⁇ may be an exceeding / falling below a predetermined acceleration value and / or an exceeding / falling below a predetermined rotation angle or a predetermined direction of rotation of the wheel of the motor vehicle.
  • the finite state machine can change to a request state.
  • a brake pressure request can be calculated. This calculation can be performed up to a desired slip.
  • the brake pressure request can be carried out with a predefined brake pressure gradient until a desired slip is achieved.
  • the finite state machine can change to the hold state. If a maximum brake pressure requirement is reached in the request state, the finite state machine can change to the ramp state. In the holding state, the brake pressure requirement can be set to the currently estimated brake pressure. This can lead to a steady brake pressure.
  • a duration of the hold state may be limited by a maximum time.
  • the desired slip may differ from the current slip. If the maximum request time or a maximum hold time is reached in the hold state, the finite state machine can change to the ramp state. In the ramp state, the finite state machine can go back to sleep when an estimate of the brake pressure force takes the value 0.
  • This additional embodiment has the advantage of measuring the vehicle reaction at a brake pressure build-up and to determine the current adhesion value from the measured values via a fuzzy logic.
  • fuzzy logic allows an average value of the slip to be adapted to the external circumstances.
  • the hold time can be limited by a maximum time.
  • the brake pressure request can be hidden. This can prevent an abrupt jerk, which would be uncomfortable for a driver.
  • the further measured values may be a speed, a slip and / or a yaw rate. These three measured values, in conjunction with the current brake pressure, can be understood as input values for the signal processing unit.
  • the fuzzyfication may include mapping the measured brake pressure and the other measurements via membership functions to appropriately weighted objects of a fuzzy set.
  • the fuzzy set may include linguistic expressions.
  • the linguistic terms may refer to brake pressure / yaw rate / the speed / slip may be "very low”, “low”, “medium”, “high” and / or “very high.” Linguistic terms may be “very dry”, “dry”, “wet”, “very dry” with respect to the road surface damp ",” cold “,” very cold “,” warm “,” very warm “.
  • the membership functions can determine the degree of belonging to an object of a fuzzy set.
  • the measured brake pressure or the further measured values can each have multiple affiliations to objects of a fuzzy set.
  • the fuzzy logic allows values to be between each
  • the fuzzy rules can represent a set of rules that links fixed objects to a fuzzy set by means of logical links in such a way that you can estimate the condition of a road surface currently traveled by the motor vehicle.
  • the fuzzy rules can be based on empirical investigations and represent physical relationships.
  • the inference may further include forming an affiliation with an object of a fuzzy set.
  • Affiliation can be a linguistic affiliation.
  • the affiliation can be the result of applied fuzzy rules on the fuzzyfication of the measured brake pressure and the other measured values, and their logical combination.
  • the defuzzification may further include a deduction of a result from the inference to the estimated current adhesion value ⁇ .
  • the result may correspond to an object of a fuzzy set, which may be weighted accordingly.
  • Correspondingly weighted here can be understood as the degree of belonging to the object of the fuzzy set.
  • the defuzzification may also be via combined membership functions that may be used to calculate the current adhesion value ⁇ in conjunction with a singleton centroid method.
  • fuzzy sets mentioned here in the steps of fuzzyfication, inference and defuzzification may differ.
  • a schematic representation of an embodiment a schematic representation of a triggering of the brake pressure measuring unit according to an embodiment; a schematic representation of a state diagram of a finite state machine according to an embodiment; a schematic representation of an event list of a finite state machine according to an embodiment; a schematic representation of brake pressure requirements in a request state of a finite state machine according to an embodiment; a schematic representation of membership functions of a slip; a schematic representation of membership functions of a brake pressure; a schematic representation of membership functions of a speed; a schematic representation of membership functions of a yaw rate; a schematic representation of fuzzy rules according to an embodiment;
  • Figure 7B is a schematic representation of fuzzy operators and a realization according to an embodiment
  • Figure 8A is a schematic representation of membership functions of a road surface / ground according to an embodiment
  • Figure 8B is a schematic representation of a common membership function according to an embodiment
  • FIG. 1 shows an example and schematically a structure of an embodiment.
  • a fuzzy-based control system 10 is shown.
  • the brake pressure measuring unit 12 is triggered via a trigger.
  • the brake pressure measurement unit transmits to the signal processing unit 14 the vehicle speed, the yaw rate, the slip and the brake pressure.
  • a fuzzy inference and a subsequent defuzzification of the signal processing unit 14 are estimated via a fuzzyfication and fuzzy rules, a adhesion value ⁇ , which is forwarded to the control unit 16.
  • the control unit 16 controls a speed and / or a current brake pressure for one or more wheels of the motor vehicle.
  • FIG. 2 shows, by way of example and schematically, a profile of initial conditions which must be satisfied in order to carry out an embodiment according to the present invention.
  • a start condition timer is shown in the bottom line of Figure 2, which is reset if the conditions are not met. Only when the city condition timer reaches the value 0, a trigger, as shown in Figure 1, activates the brake pressure measuring unit.
  • FIG. 3 shows an example of a finite state machine with 4 different states and 5 different events. These states include a sleep state, a request state, a hold state, and a ramp state.
  • FIG. 4 shows the various events which lead to the different states of the finite state machine. El represents an event for the start condition to get into the request state. E2 represents an event for the arrival of the hold state from the request state. E3 represents an event for the arrival of the ramp state from the request state. E4 represents an event for the arrival of the ramp state from the hold state. E5 represents an event for the arrival of the state Sleep state from the ramp state.
  • FIG. 5 shows by way of example and schematically an illustration of a brake pressure requirement up to a desired slip.
  • the brake pressure requirement follows a predefined gradient, and is cut by a maximum braking ⁇ print request.
  • the typical course of the ramp-shaped braking ⁇ pressure request is shown in Figure 5. It can be seen that the brake pressure runs like a ramp up to a maximum brake pressure or until the desired slip is achieved. If the desired slip is achieved, this leads to the holding state. In the hold state, the brake pressure request is set to the current estimated brake pressure. This leads to constant brake pressure. If no slip regulator is present, the average slip will differ from the desired slip.
  • an estimated adhesion value ⁇ is used from a fuzzy logic estimation to adjust this slip. This sets the desired slip. In the Rampenschreib is finally still prevented that the motor vehicle does not move jerkily, so that a seated driver does not feel unintentionally exposed to a jolt.
  • FIGS. 6A, 6B, 6C and 6D show exemplary membership functions corresponding to the four measured values: slip, brake pressure, motor vehicle speed and yaw rate.
  • three membership functions are plotted over one slip.
  • the three membership functions include low, medium and high slip.
  • a corresponding degree of affiliation is determined accordingly via the graphs of FIG. 6A.
  • FIGS. 6B, 6C and 6D The same principle applies to FIGS. 6B, 6C and 6D.
  • the three membership functions include low, medium, and high brake pressures. There may also be five or more membership functions, e.g. very low, low, medium, high and very high brake pressure. By way of example, a measured brake pressure of 12 bar via the membership function on (P_niedrig;
  • P_stoff; P_high (1; 0; 0). That is, having about to ⁇ assikeitsfunktion certain brake pressure not belonging to medium and high brake pressure, but only to a low brake pressure.
  • five membership functions are plotted versus a vehicle speed.
  • the five membership functions include very low, low, medium, high and very high vehicle speed.
  • a measured motor vehicle speeds of 50 km / h or 60 km / h are mapped via the membership functions to a degree of belonging to (V_very_lower; V_lower;
  • three membership functions are plotted over a yaw rate.
  • the three membership functions include low, medium and high yaw rates.
  • a measured yaw rate of 0.3 ° / s or 0.48 ° / s can be mapped via the membership functions to (yaw_lower; yaw_medium;
  • the degree of affiliation in this exemplary embodiment represents the percentage of a linguistic mapping from a measured value.
  • FIG. 7A shows by way of example and schematically fuzzy rules according to an exemplary embodiment of the present invention. These rules represent links between the linguistic mappings of the associated measured values and the linguistic value for the lane integrity / background necessary for an inference.
  • a sticking value ⁇ can be estimated via a defuzzification.
  • FIG. 8A describes four subsurface membership functions that include ice, snow, wet, dryness, for example. These properties can describe a background.
  • the object of the fuzzy set here the linguistic expression, can be mapped back to a stuck value.
  • a liability value is estimated via the membership functions.
  • a specific initial sentence can be calculated via the connection of all fuzzy rules, with a corresponding combined membership function being capped by the maximum value.
  • a singleton centroid method can be used, with the emphasis set and the following formula
  • an estimated adhesion value M_est, precise can be calculated.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Regulating Braking Force (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

La présente invention concerne un système de commande à base de logique floue dans un véhicule à moteur pour commander une vitesse. Le système de commande à base de logique floue comprend une unité de mesure de pression de freinage, une unité de traitement de signaux et une unité de commande. En tant qu'automate d'états finis, l'unité de mesure de pression de freinage est destinée à mesurer une pression de freinage instantanée d'un frein d'une roue du véhicule à moteur en fonction d'un déclencheur. L'unité de traitement de signaux est conçue de manière à évaluer un coefficient d'adhérence (μ) instantané entre un pneumatique associé à la roue et le sol du moment, sur la base de la pression de freinage instantanée du frein et d'autres valeurs de mesure. L'évaluation comprend une inférence sur la base de règles de logique floue et d'une mise en logique floue, puis une suppression de logique floue de l'inférence. L'unité de commande est conçue de manière à commander une vitesse du véhicule à moteur ou la pression de freinage du frein, sur la base du coefficient d'adhérence (μ) instantané évalué.
EP17751271.2A 2016-07-29 2017-07-20 Système de commande à base de logique floue dans un véhicule à moteur pour la commande d'une vitesse dudit véhicule à moteur ou d'une pression de freinage d'un frein du véhicule à moteur Withdrawn EP3490855A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016009257.2A DE102016009257A1 (de) 2016-07-29 2016-07-29 Fuzzy-basiertes Steuerungssystem in einem Kraftfahrzeug zur Steuerung einer Geschwindigkeit des Kraftfahrzeugs oder eines Bremsdrucks einer Bremse des Kraftfahrzeugs
PCT/EP2017/068357 WO2018019698A1 (fr) 2016-07-29 2017-07-20 Système de commande à base de logique floue dans un véhicule à moteur pour la commande d'une vitesse dudit véhicule à moteur ou d'une pression de freinage d'un frein du véhicule à moteur

Publications (1)

Publication Number Publication Date
EP3490855A1 true EP3490855A1 (fr) 2019-06-05

Family

ID=59581850

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17751271.2A Withdrawn EP3490855A1 (fr) 2016-07-29 2017-07-20 Système de commande à base de logique floue dans un véhicule à moteur pour la commande d'une vitesse dudit véhicule à moteur ou d'une pression de freinage d'un frein du véhicule à moteur

Country Status (5)

Country Link
US (1) US10569750B2 (fr)
EP (1) EP3490855A1 (fr)
CN (1) CN109476288B (fr)
DE (1) DE102016009257A1 (fr)
WO (1) WO2018019698A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016009257A1 (de) * 2016-07-29 2018-02-01 Lucas Automotive Gmbh Fuzzy-basiertes Steuerungssystem in einem Kraftfahrzeug zur Steuerung einer Geschwindigkeit des Kraftfahrzeugs oder eines Bremsdrucks einer Bremse des Kraftfahrzeugs
CN111688706A (zh) * 2020-05-26 2020-09-22 同济大学 一种基于视觉与动力学的路面附着系数交互式估计方法
DE102020206837A1 (de) * 2020-06-02 2021-12-02 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zur Bestimmung einer Bremsdruck-Änderung
EP4056434B1 (fr) * 2021-03-09 2023-09-20 KNORR-BREMSE Systeme für Nutzfahrzeuge GmbH Procédé permettant de définir au moins une courbe caractéristique d'un système de freinage commandé par fluide sous pression d'un véhicule

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01132450A (ja) * 1987-11-17 1989-05-24 Nissan Motor Co Ltd アンチスキッドブレーキシステム
JPH03258650A (ja) * 1990-03-09 1991-11-18 Toyota Motor Corp 路面摩擦係数検出装置
JP2639179B2 (ja) * 1990-06-19 1997-08-06 日産自動車株式会社 車両の運転操作補償装置
DE4317050A1 (de) * 1993-05-21 1994-11-24 Bosch Gmbh Robert System zur Ermittlung des Kraftschlußbeiwerts bei Fahrzeugen
US5416709A (en) * 1993-11-03 1995-05-16 National Science Council Fuzzy controller for anti-skid brake systems
EP0771441B1 (fr) * 1994-07-20 1998-10-28 Siemens Aktiengesellschaft Procede et dispositif pour l'application de logique floue dans des systemes d'automatisation
JP4569475B2 (ja) * 2006-01-11 2010-10-27 トヨタ自動車株式会社 ブレーキ制御装置
DE102006020520B4 (de) * 2006-05-03 2015-05-21 Robert Bosch Gmbh Regelung des Bremsdrucks mittels eines Druckbegrenzungsventils
WO2010001819A1 (fr) * 2008-06-30 2010-01-07 日産自動車株式会社 Dispositif et procédé d’estimation du coefficient de frottement de la surface d’une route
ES2343667B2 (es) * 2008-12-31 2011-08-17 Universidad De Malaga Sistema de frenado para automovil con prediccion de adherencia y control continuo de presion de frenada.
DE102013015157A1 (de) * 2013-09-11 2015-03-12 Wabco Gmbh Luftaufbereitungsanlage für die Druckluftversorgung von Nutzkraftfahrzeugen
CN105606530A (zh) * 2016-01-28 2016-05-25 江苏大学 一种路面峰值附着系数测试装置及方法
DE102016009257A1 (de) * 2016-07-29 2018-02-01 Lucas Automotive Gmbh Fuzzy-basiertes Steuerungssystem in einem Kraftfahrzeug zur Steuerung einer Geschwindigkeit des Kraftfahrzeugs oder eines Bremsdrucks einer Bremse des Kraftfahrzeugs

Also Published As

Publication number Publication date
DE102016009257A1 (de) 2018-02-01
US20180029568A1 (en) 2018-02-01
WO2018019698A1 (fr) 2018-02-01
CN109476288B (zh) 2021-04-16
US10569750B2 (en) 2020-02-25
CN109476288A (zh) 2019-03-15

Similar Documents

Publication Publication Date Title
DE3878674T2 (de) System in einem kraftfahrzeug, um auf dynamische weise die strassenadhaesion zu bestimmen.
DE19938935B4 (de) Bremssteuerverfahren
WO2018019698A1 (fr) Système de commande à base de logique floue dans un véhicule à moteur pour la commande d'une vitesse dudit véhicule à moteur ou d'une pression de freinage d'un frein du véhicule à moteur
DE10149190A1 (de) Vorrichtung und Verfahren zur Wankregelung für ein Fahrzeug
EP2327596A1 (fr) Limitation appuyée par la valeur de friction du couple d'un circuit de réglage d'un véhicule automobile
DE102015000931B4 (de) Verfahren zur Bestimmung einer Referenzgeschwindigkeit für ein Fahrzeug mit mindestens zwei Rädern sowie eine Steuereinrichtung und eine Bremsvorrichtung
EP3625094A1 (fr) Procédé pour évaluer les forces de freinage total atteignables afin de faire décélérer automatiquement un véhicule utilitaire, système de freinage et véhicule utilitaire en étant pourvu
DE102018200180A1 (de) Verfahren zur Ermittlung des Reibwerts zwischen einem Fahrzeugrad und der Fahrbahn
EP1045783B1 (fr) Dispositif et procede pour limiter la vitesse de roulement en arriere d'un vehicule automobile
WO2004083012A1 (fr) Procede et dispositif pour determiner une grandeur de frottement representant les frottements qui agissent entre une chaussee et des pneumatiques de vehicule
EP1726471A1 (fr) Régulateur de vitesse pour véhicules à moteur
WO2007068571A1 (fr) Procédé et dispositif pour déterminer un coefficient de frottement maximal sur une roue d'un véhicule à l'arrêt
DE10039458A1 (de) Verfahren und Vorrichtung zum Unterstützen einer HDC-Regelung während des Anfahrens und/oder Fahrens eines Fahrzeugs bergabwärts
DE19949258C2 (de) Bremsanlage für Kraftfahrzeuge
DE112014004456B4 (de) Bergabgeschwindigkeitssteuervorrichtung für ein Fahrzeug
DE10304966A1 (de) Schlupfregelungsalgorithmus für ein Kraftfahrzeug
DE2447182A1 (de) Verfahren und vorrichtung zum regeln der bremskraft an den raedern von fahrzeugen
DE102012204671A1 (de) Verfahren zur Ermittlung eines Kraftschlussverhältnisses zwischen zumindest einem Rad und einer Oberfläche sowie entsprechende Vorrichtung
DE102017203847A1 (de) Verfahren zur Schlupfregelung eines Fahrzeugs
DE102018005614B4 (de) Verfahren zum Steuern eines Antriebsstrangs, Steueranordnung zum Steuern eines Antriebsstrangs, Antriebsstrang, Fahrzeug, Computerprogramm und computerlesbares Medium
EP3606795B1 (fr) Système de régulation du système de freinage pour des véhicules automobiles
WO2004074058A1 (fr) Procede et dispositif de calcul assiste par ordinateur des charges par essieu d'un vehicule
DE102015007365A1 (de) Verfahren zum Steuern eines Kraftfahrzeugs, Steuerungseinrichtung und Kraftfahrzeug
DE102019205266A1 (de) Bremssystem für ein Fahrzeug und Steuerungsvorrichtung für ein Bremssystem sowie Verfahren zum Bremsen eines Fahrzeugs
WO2021110396A1 (fr) Commande de la distribution d'un agent augmentant l'adhérence pour un véhicule ferroviaire

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: UNKNOWN

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

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

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20181210

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

RIN1 Information on inventor provided before grant (corrected)

Inventor name: HOEHN, ANDREAS

Inventor name: RAMS, ALEXANDER

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20200310

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: ZF ACTIVE SAFETY GMBH

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

18D Application deemed to be withdrawn

Effective date: 20200721