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
• • 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
  • B60G17/019—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 type of sensor or the arrangement thereof
• • 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
  • B60G17/016—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 their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
  • B60G17/0162—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 their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during a motion involving steering operation, e.g. cornering, overtaking
• • 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
  • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
  • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
  • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
• • 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
  • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
  • B62D—MOTOR VEHICLES; TRAILERS
  • B62D7/00—Steering linkage; Stub axles or their mountings
  • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
  • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
  • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
  • B62D7/159—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition
• • 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
  • B60G2400/052—Angular rate
  • B60G2400/0523—Yaw rate
• • 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
  • B60G2400/40—Steering conditions
  • B60G2400/41—Steering angle
  • B60G2400/412—Steering angle of steering wheel or column
• • 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
  • B60G2800/702—Improving accuracy of a sensor signal
• • 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
  • B60T2260/00—Interaction of vehicle brake system with other systems
  • B60T2260/09—Complex systems; Conjoint control of two or more vehicle active control systems

Definitions

• the invention relates to a system according to the preamble of claim 1.
• a system is used to regulate the driving stability of motor vehicles.
• the signals from various sensors are evaluated, which measure movements of the motor vehicle, such as pitching, rolling and yawing movements as well as accelerations and decelerations.
• Various sensors are used, in particular wheel speed sensors, steering wheel angle sensors, yaw rate sensors and, if appropriate, further sensors.
• the signals from these sensors are evaluated in the driving stability (FSR) system and then actuating or control signals are generated with which the brake pressure acting on the individual wheels of the motor vehicle is controlled.
• FSR driving stability
• Components of the driving stability control are an anti-lock braking system and a drive or anti-slip control.
• the invention has for its object to provide a system for driving stability control that can be implemented with little effort and in which the dangers arising from cable breaks and the like are as low as possible.
• FIG. 1 a motor vehicle with a system for driving stability control according to the invention
• Figure 2 is a schematic representation of the operation of the system of Figure 1, and
• FIG. 3 shows a table of various methods that can be used in the system according to FIG. 1 for calculating the yaw rate or yaw rate.
• a motor vehicle 1 the direction of which is indicated by an arrow 2, has four wheels 4, 5, 6 and 7.
• a wheel speed sensor 8 (front left) 9 (front right) 10 (rear left) and 11 (rear right) is assigned to each of the wheels.
• the signals supplied by these sensors go to a control unit 12 via signal lines shown in the drawing and are evaluated there.
• the control unit 12 generates control signals with which the brake pressure acting on the individual wheels is controlled.
• the control unit can act as an anti-lock braking system (ABS), as a traction control system (ASR), or as a combined ABS-ASR control unit.
• ABS anti-lock braking system
• ASR traction control system
• Many versions of such anti-lock and traction control systems are known (cf. for example the patent specification mentioned at the outset) and are therefore not described further here.
• control unit can implement yaw moment control or generally driving stability control.
• control signals are generated which control the brake pressure acting on the individual wheels 4-7.
• active shock absorbers and steerable rear axles can be controlled and intervened in the engine control of the motor vehicle in order to adapt the engine torque to the driving situation, for example to temporarily reduce it when the drive wheels spin.
• the control device 12 is connected via a data line 13, e.g. via a VAN or CAN bus, connected to a housing 14 which is arranged at a central point, i.e. if possible in the center of the vehicle.
• This central housing 14 contains at least one acceleration sensor 16 and an airbag control 17.
• This airbag control 17 triggers one or more airbags present in the motor vehicle in the event of an impact or a collision of the motor vehicle. For this purpose, it evaluates the signals from the acceleration sensor 16. Signals from this sensor are also used here for driving stability control.
• a yaw rate or yaw rate sensor 18 is also accommodated in the central housing 14 if the motor vehicle has one.
• the yaw rate or yaw rate can also be determined from the signals from other sensors, as will be explained further below with reference to FIG. 3.
• the function of the yaw rate sensor 18 can be checked by evaluating the signals from the steering wheel angle sensor, the acceleration sensor and / or one or more wheel speed sensors. This makes it possible to carry out an indirect self-test, also known as a plausibility test, of the yaw rate sensor. Ren without having to be operated in the yaw rate sensor additional design or circuitry.
• the control unit 12 contains a computing circuit 23 for calculating the yaw rate ⁇ (FIG. 2), which can also be implemented as an algorithm, and a computing or program area 24 for carrying out the driving stability control.
• the communication between these two elements of the control device 12 is indicated by a bidirectional arrow 25.
• the signals from the four wheel speed sensors 8 to 11, the signals from the steering wheel angle sensor 19 and the signals from two acceleration sensors, a longitudinal acceleration sensor 28 and a lateral acceleration sensor 29 are evaluated in the arithmetic circuit 23.
• the yaw rate ⁇ measured by the yaw rate sensor 18 is transmitted, possibly together with self-test data of the sensor, via a signal line 26 to the driving stability control 24 and via a signal line 27 to the computing circuit 23.
• a plausibility check of the yaw rate ⁇ is carried out using one of the calculation methods to be described below. If the result is that the yaw rate is OK, this is communicated to the driving stability control 24 via the communication channel 25, which can then utilize the measured value.
• the components of motor vehicle acceleration in three spatial axes are required for effective driving stability control.
• the acceleration sensors 17, 28 and 29 can be designed as a combined three-axis sensor with the following measuring ranges:
• the acceleration sensor 17 of the airbag (usually referred to as a crash sensor) is used to measure the acceleration in the direction of travel.
• the measurements of the acceleration in the transverse direction can be used to trigger any side airbags that may be present.
• the measuring range for this is approximately ⁇ 20 g. It follows that by combining the sensors required for the airbag control and for the driving stability control in the common housing 14, multiple use of the probe signals is made possible. Such a centralization is also advantageous with regard to the transmission of large amounts of data in motor vehicles via a data bus.
• the respectively required sensor signals or measurement data can be seen from the second text column.
• the formulas to be used for calculating the yaw rate in cases 1 to 5 can be seen from the third text column in FIG. 3, and the formula symbols used in these formulas from the fourth text column.
• the last text column is provided for any comments regarding the measuring accuracy of individual calculation methods.
• the system according to the invention for regulating the driving stability of a motor vehicle is described as follows. Signals from the wheel speed sensors 8-11, from the steering wheel angle sensor 19, if applicable.
• the yaw rate sensor 18 and other sensors are evaluated by the control unit 12. This generates control signals with which the brake pressures acting on the individual wheels 4-7 of the motor vehicle 1 are controlled so that the driving state of the motor vehicle 1 remains stable. This means that, for example, the brakes do not lock, the wheels do not spin, the motor vehicle does not break out, etc.
• the control device 12 is connected to the airbag control 17 and evaluates the signals from the acceleration sensor 16 of the airbag control.
• the yaw rate sensor 18, the acceleration sensor 16 and the airbag control 17 are expediently housed together in the housing 14 arranged at the central point of the motor vehicle. Furthermore, active shock absorbers and steerable rear axles can be controlled and intervened in the engine control of the motor vehicle in order to adapt the engine torque to the driving situation, for example to temporarily reduce it when the drive wheels spin.
• the yaw rate sensor 18 and its signals evaluated in the control device 12 can also be used in a vehicle navigation system.

Landscapes

• Engineering & Computer Science (AREA)
• Mechanical Engineering (AREA)
• Transportation (AREA)
• Chemical & Material Sciences (AREA)
• Mathematical Physics (AREA)
• Theoretical Computer Science (AREA)
• Physics & Mathematics (AREA)
• Combustion & Propulsion (AREA)
• Automation & Control Theory (AREA)
• Vehicle Body Suspensions (AREA)
• Steering Control In Accordance With Driving Conditions (AREA)
• Regulating Braking Force (AREA)
• Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
• Electric Propulsion And Braking For Vehicles (AREA)

Priority Applications (6)

Applications Claiming Priority (2)

Publications (1)

Family

ID=6530388

Family Applications (1)

Country Status (9)

Cited By (4)

Families Citing this family (43)

Citations (7)

Family Cites Families (1)

• 1994
  • 1994-10-10 DE DE4436162A patent/DE4436162C1/de not_active Expired - Fee Related
• 1995
  • 1995-10-09 CN CN95195571A patent/CN1160380A/zh active Pending
  • 1995-10-09 WO PCT/DE1995/001381 patent/WO1996011128A1/de not_active Application Discontinuation
  • 1995-10-09 BR BR9509288A patent/BR9509288A/pt not_active Application Discontinuation
  • 1995-10-09 AU AU36039/95A patent/AU3603995A/en not_active Abandoned
  • 1995-10-09 CZ CZ971084A patent/CZ108497A3/cs unknown
  • 1995-10-09 JP JP8512258A patent/JPH10506861A/ja active Pending
  • 1995-10-09 EP EP95933325A patent/EP0785884A1/de not_active Withdrawn
  • 1995-10-09 KR KR1019970702327A patent/KR970706156A/ko not_active Application Discontinuation

Patent Citations (8)

Non-Patent Citations (1)

Also Published As

Similar Documents

Legal Events