WO2006077211A1 - Procede et dispositif pour reguler les forces de freinage et/ou d'entrainement d'un vehicule a roues alignees - Google Patents

Procede et dispositif pour reguler les forces de freinage et/ou d'entrainement d'un vehicule a roues alignees Download PDF

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Publication number
WO2006077211A1
WO2006077211A1 PCT/EP2006/050248 EP2006050248W WO2006077211A1 WO 2006077211 A1 WO2006077211 A1 WO 2006077211A1 EP 2006050248 W EP2006050248 W EP 2006050248W WO 2006077211 A1 WO2006077211 A1 WO 2006077211A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
acceleration
axis
sensor elements
angle
Prior art date
Application number
PCT/EP2006/050248
Other languages
German (de)
English (en)
Inventor
Frank Steinmeier
Joachim Scholer
Karl-Heinz Hennemann
Otmar Simon
Hans Georg Ihrig
Original Assignee
Continental Teves Ag & Co. Ohg
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 Continental Teves Ag & Co. Ohg filed Critical Continental Teves Ag & Co. Ohg
Publication of WO2006077211A1 publication Critical patent/WO2006077211A1/fr

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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
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/321—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration deceleration
    • B60T8/3225—Systems specially adapted for single-track vehicles, e.g. motorcycles
    • 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
    • B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
    • B60T8/1706—Braking or traction control means specially adapted for particular types of vehicles for single-track vehicles, e.g. motorcycles
    • 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

Definitions

  • the present invention relates to a method for controlling the braking and / or driving forces of a single-track vehicle, in particular a motorcycle.
  • the rotational behavior of the vehicle wheels and by acceleration measurements on the vehicle vehicle inclinations are determined by wheel speed measurement and used to determine the control variables for a control intervention.
  • Devices for carrying out the method likewise belong to the invention.
  • a method of this type is already known from German Patent DE 42 44 112 C2. It is in principle a standard anti-lock control system (ABS), in which the information for detecting blocking tendencies and for regulating and limiting the brake slip are obtained in a known manner by means of wheel speed sensors. In addition, two stationary on the vehicle arranged acceleration sensors are available from the output signals, a skew angle of the single-track vehicle, namely the motorcycle, can be calculated.
  • the skew in the curve motorcycles are known to have a major influence on the driving stability of the vehicle and should therefore be taken into account in the regulation. Obtaining sufficient cornering power while cornering is essential in motorcycles for understandable reasons; in a multi-lane vehicle (four-wheel vehicle), the cornering force of the wheels in critical situations is less critical.
  • ASR or TCS traction control
  • the design of the braking force to stabilize the cornering of a single-lane vehicle is of course not solely dependent on the current lateral acceleration of the vehicle, especially since too high a braking torque in the curve may be taken as little in purchasing, such as too high a reduction of the braking torque, the one would cause unnecessarily long braking distance.
  • the present invention is therefore an object of the invention to develop a method with which the brake pressure or The braking torque can be determined and set in different situations - cornering, straight ahead, high or low coefficient of friction, driving over hills, etc. - leads to a (nearly) optimal braking while maintaining the driving stability.
  • the contact surfaces of the vehicle wheels or vehicle wheels are replaced by a vehicle. tire occurring forces and force components in the x-, y- and z-direction determined from the acceleration components measured on the vehicle.
  • the accelerator components with the aid of individual sensor elements.
  • to be measured which are arranged in pairs on the longitudinal axis of the vehicle and on the transverse axis of the vehicle at a predetermined angle to each other and / or to an axis of the vehicle such that by correlation and evaluation of the sensor signals information about the acceleration of the vehicle in x , y and z direction.
  • An apparatus for carrying out the method according to the invention includes wheel speed sensors, an acceleration measuring system with a plurality of acceleration sensors fixed to the vehicle, an electronically controllable wheel brake system and a vehicle computer system for evaluating the sensor signals and generating or influencing the brake drive signals.
  • the acceleration measuring system has a plurality of acceleration sensor elements, which are arranged at a predetermined angle to each other and / or to the vertical axis of the vehicle such that with the help of the entirety of the acceleration sensor elements information about the acceleration of the vehicle in the x-, y- and z-direction of the vehicle is available.
  • This information is inventively in the vehicle computer system for determining the forces and force components occurring in the footprints of the vehicle wheels or tires in the x-, y- and z-direction and for determining the angular position of the vehicle, in particular the skew and the pitch angle, and other dynamic driving Sizes evaluated.
  • Fig. 1 shows a side view of a single-track vehicle and the arrangement and orientation of the sensor elements
  • Fig. 2 in the same representation as Fig. 1 is a rear view of the vehicle of FIG. 1, and
  • Fig. 3 is a flow chart of an example method.
  • Hydraulic unit for controlling the wheel brakes (HCU); alternatively, an electric or electro-hydraulic brake actuation system may be used
  • KBS a combination acceleration sensor
  • an essential feature of the invention is the "intelligent" combination of four acceleration sensor elements to a combination acceleration sensor (called KBS) Basis for a method and a device for the acquisition of measured values or data that are required for optimal braking force and / or driving force control.
  • KBS combination acceleration sensor
  • the combination acceleration sensor KBS in the present exemplary embodiment of the invention consists of four individual acceleration sensor elements which are arranged at a specific angle to one another and to the vehicle axles.
  • two sensor elements lie on the longitudinal axis and two sensor elements (FIG. 2) on the transverse axis of the vehicle.
  • This arrangement makes it possible to precisely determine the forces and angles of a single-track vehicle and to unequivocally decompose these into x, y and z forces on the wheel contact surfaces on the basis of a mathematical vehicle model.
  • FIGS. 1 and 2 the center of gravity sp of the vehicle is indicated.
  • VA is the front wheel
  • HA the rear wheel of the vehicle.
  • KBS is the combination acceleration sensor
  • the measuring directions of the individual sensor elements are shown with obliquely upward-pointing arrows and the acceleration components a1, a2 and a3, a4 are measured in the indicated measuring directions.
  • the angle to the vertical axis h in the exemplary embodiment described here is in each case 45 °.
  • the roadway is marked in Figures 1 and 2 by a wider horizontal line.
  • the footprint of the vehicle wheels or tires VA and HA on the roadway represented by a wide black ring depends inter alia on the vehicle's banking angle when driving on a curve.
  • Fig. 2 is based on a straight ahead.
  • the combination acceleration sensor KBS offers the possibility of determining the forces at the wheel contact surfaces in the x-, y- and z-direction via trigonometric functions.
  • the two sensor elements lie on the longitudinal axis (in a plane parallel to the longitudinal and vertical axes of the vehicle, that is to say in an xz plane) are at an angle ⁇ 1, ⁇ 2 (in the exemplary embodiment approximately every 45 °) °) to the vertical axis h (z-axis) of the vehicle. They measure the accelerations a1, a2 in the directions indicated by the arrows and thus reproduce the acceleration components in the x and z directions with reference to a vehicle-fixed coordinate system.
  • Acceleration components and fahrdynamichen sizes are determined: a) the longitudinal acceleration a x in the x direction b) the normal acceleration a z in the z direction c) the pitch angle ⁇ of the vehicle
  • the two sensor elements lying on the transverse axis are at an angle ⁇ 3, ⁇ 4 (in the exemplary embodiment likewise approximately 45 ° in each case) arranged to the vertical axis of the vehicle. They measure the accelerations a3, a4 in the directions indicated by the arrows and represent the acceleration components in the y- and in the z-direction relative to a vehicle-fixed coordinate system.
  • the forces on the vehicle wheels or tires can now be calculated according to size and direction.
  • the brake or brake can now be used. Acceleration forces are optimized.
  • the aforementioned information obtained with the aid of the combination acceleration sensor KBS according to the invention is included in a variety of ways in the control algorithm of the control system (ABS, ASR, etc.), which finally results in a much better, more accurate, compared to the conventional control systems without KBS Depending on the driving situation, adapted control can be achieved. Among others, z. B.
  • control intervention thresholds of the ABS the maximum permissible brake pressure at the front wheel VA and at the rear wheel HA and further control variables depending on the actual occurring tire contact forces determined in the j eology situation, in addition, the inclination of the vehicle and other driving dynamics influencing variables (driving over crests , lifting wheel etc.) can be included in the calculations.
  • specific brake pressure limits have been defined individually for the front wheel VA and the rear wheel HA of the vehicle for the following situations:
  • Block 1 represents the combination acceleration sensor KBS, which consists of four individual acceleration sensor elements which are mounted in a known mounting position in the vehicle, d. H . the position and position of the sensor elements in the vehicle-fixed coordinate system are known. The sensor elements measure the accelerations al, a2, a3, a4 in known directions.
  • the accelerations a x , a y , a z (block 3), which act on the vehicle in the x, y and z directions, are determined by means of a calculation algorithm 2 from the data measured by the acceleration sensor elements.
  • the forces on the wheel contact surfaces Fx-VA, Fy-VA, Fz-VA, Fx-HA, Fy-HA, Fz-HA (Block 5).
  • the center of gravity sp and the total mass m (block 6), which is estimated and / or by other sensors, such.
  • Seat detection sensor and / or compression travel in the state can be determined.
  • the pitch angle ⁇ and the skew angle ⁇ are calculated by means of a calculation algorithm 7 from the mutual overlaying / supplementing of the measured data of the sensors (block 8).
  • the measured data of the four sensor elements for redundancies, sensor balances and / or failsafe concepts can be used by means of a calculation algorithm 9 (block 10). If there are any discrepancies, a warning can be issued to the driver, which alerts the driver to a possible problem, eg. B. a warning lamp 12 can be activated.
  • the information and data from the blocks 5, 8 and 10 are used to increase driving safety by adapting brake pressure and / or drive torque to the driving situation (block 13).
  • the modulation of brake pressure and / or drive torque may, for. B. be made through the existing ABS system.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Hydraulic Control Valves For Brake Systems (AREA)
  • Regulating Braking Force (AREA)

Abstract

L'invention concerne un procédé servant à réguler les forces de freinage et/ou d'entraînement d'un véhicule à roues alignées, comme une motocyclette. Selon ce procédé, on détermine le comportement de rotation des roues du véhicule par la mesure du nombre de tours et des inclinaisons du véhicule par des mesures d'accélération sur le véhicule et on utilise ces données pour déterminer les grandeurs de régulation pour une intervention de régulation si la stabilité de conduite est menacée. Le procédé selon l'invention est caractérisé en ce qu'on détermine les composantes d'accélération apparaissant sur le véhicule selon la grandeur et la direction par des mesures d'accélération en plusieurs endroits prédéfinis du véhicule et dans plusieurs directions prédéfinies et en ce qu'on évalue ces informations pour déterminer les forces et composantes de force apparaissant au niveau des surfaces de contact avec le sol des pneus du véhicule dans les directions x, y et z (x = sens longitudinal, z = axe vertical, y = axe perpendiculaire à x et z), ainsi que pour détecter la position angulaire du véhicule (angle d'inclinaison ?, angle de tangage f) et/ou la situation de conduite (par exemple, décollage d'une roue, dos d'âne, etc.). L'invention concerne également un dispositif servant à exécuter ce procédé et contenant un capteur d'accélération combiné (KBS) qui est constitué de quatre éléments capteurs placés selon une orientation définie sur l'axe longitudinal et l'axe transversal du véhicule.
PCT/EP2006/050248 2005-01-21 2006-01-17 Procede et dispositif pour reguler les forces de freinage et/ou d'entrainement d'un vehicule a roues alignees WO2006077211A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
DE102005003158.7 2005-01-21
DE102005003158 2005-01-21
DE102006002399A DE102006002399A1 (de) 2005-01-21 2006-01-17 Verfahren und Vorrichtung zur Regelung der Brems- und/oder der Antriebskräfte eines einspurigen Fahrzeugs
DE102006002399.4 2006-01-17

Publications (1)

Publication Number Publication Date
WO2006077211A1 true WO2006077211A1 (fr) 2006-07-27

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WO (1) WO2006077211A1 (fr)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008058789A1 (fr) * 2006-11-17 2008-05-22 Robert Bosch Gmbh Procédé de régulation de la pression de freinage dans des véhicules à deux roues
FR2912363A1 (fr) * 2007-02-08 2008-08-15 Renault Sas Systeme et procede de determination de l'angle de devers d'un vehicule a partir des efforts exerces sur les roues
EP2106980A1 (fr) * 2008-03-31 2009-10-07 Nissin Kogyo Co., Ltd. Procédé et appareil pour déterminer l'accélération latérale, et contrôleur de frein de véhicule à guidon
ITRM20080660A1 (it) * 2008-12-11 2010-06-12 Giorgio Carones "dispositivo limitatore del beccheggio di un veicolo"
EP2368777A1 (fr) * 2010-03-08 2011-09-28 POLO EXPRESSVERSAND Gesellschaft für Motorradbekleidung und Sportswear mbH Procédé et dispositif destinés à la détermination de positions inclinées de véhicules monotrace
WO2012034738A1 (fr) * 2010-09-14 2012-03-22 Robert Bosch Gmbh Procédé pour le réglage du couple de freinage sur un véhicule à deux roues dans un déplacement en position inclinée
EP2657094A1 (fr) * 2010-12-20 2013-10-30 Bosch Corporation Système de freinage et procédé de commande de freinage
WO2014009033A1 (fr) * 2012-07-10 2014-01-16 Robert Bosch Gmbh Procédé de stabilisation d'un deux roues en conduite en virage
EP3133006A4 (fr) * 2014-04-16 2017-04-26 Yamaha Hatsudoki Kabushiki Kaisha Système pour estimer une poussée de carrossage, procédé pour estimer une poussée de carrossage, et véhicule
CN112534153A (zh) * 2018-08-21 2021-03-19 罗伯特·博世有限公司 控制装置及控制方法

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006057667B4 (de) * 2006-12-07 2018-08-09 Bayerische Motoren Werke Aktiengesellschaft Vorrichtung zur Ermittlung eines Schräglagenwinkels bei einem Einspurfahrzeug
EP2146880B1 (fr) 2007-03-16 2015-07-01 Continental Teves AG & Co. oHG Procédé et dispositif pour la stabilisation d'un véhicule à moteur à deux roues
WO2018073912A1 (fr) * 2016-10-19 2018-04-26 川崎重工業株式会社 Dispositif d'estimation de force de pneumatique et procédé d'estimation de force de pneumatique

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US4989922A (en) * 1988-11-23 1991-02-05 Lucas Industries Public Limited Company Method of anti-lock brake control for motorcycle vehicle
DE4244112A1 (de) 1992-12-24 1994-06-30 Bayerische Motoren Werke Ag Antiblockierregelsystem für Motorräder
DE10039978A1 (de) * 2000-08-16 2001-05-17 Rudolf Schubach Vorrichtung zum Messen des Neigungswinkels und/oder der Beschleunigung
WO2002001151A1 (fr) * 2000-06-28 2002-01-03 Nira Dynamics Ab Procedes d'estimation de l'angle de roulis et de l'angle de tangage d'un vehicule a deux roues, et systeme et procede imformatiques pour l'execution des procedes
JP2003337028A (ja) * 2002-05-20 2003-11-28 Denso Corp 二輪車及び二輪車用運転技術データ収集システム
DE10232362A1 (de) 2002-07-17 2004-01-29 Robert Bosch Gmbh Verfahren und Vorrichtung zur Stabilisierung eines einspurigen Kraftfahrzeugs
WO2004056632A2 (fr) * 2002-12-19 2004-07-08 Continental Teves Ag & Co. Ohg Procede et dispositif pour detecter l'acceleration longitudinale et transversale d'un vehicule

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4989922A (en) * 1988-11-23 1991-02-05 Lucas Industries Public Limited Company Method of anti-lock brake control for motorcycle vehicle
DE4244112A1 (de) 1992-12-24 1994-06-30 Bayerische Motoren Werke Ag Antiblockierregelsystem für Motorräder
WO2002001151A1 (fr) * 2000-06-28 2002-01-03 Nira Dynamics Ab Procedes d'estimation de l'angle de roulis et de l'angle de tangage d'un vehicule a deux roues, et systeme et procede imformatiques pour l'execution des procedes
DE10039978A1 (de) * 2000-08-16 2001-05-17 Rudolf Schubach Vorrichtung zum Messen des Neigungswinkels und/oder der Beschleunigung
JP2003337028A (ja) * 2002-05-20 2003-11-28 Denso Corp 二輪車及び二輪車用運転技術データ収集システム
DE10232362A1 (de) 2002-07-17 2004-01-29 Robert Bosch Gmbh Verfahren und Vorrichtung zur Stabilisierung eines einspurigen Kraftfahrzeugs
WO2004056632A2 (fr) * 2002-12-19 2004-07-08 Continental Teves Ag & Co. Ohg Procede et dispositif pour detecter l'acceleration longitudinale et transversale d'un vehicule

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Title
PATENT ABSTRACTS OF JAPAN vol. 2003, no. 12 5 December 2003 (2003-12-05) *

Cited By (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008058789A1 (fr) * 2006-11-17 2008-05-22 Robert Bosch Gmbh Procédé de régulation de la pression de freinage dans des véhicules à deux roues
FR2912363A1 (fr) * 2007-02-08 2008-08-15 Renault Sas Systeme et procede de determination de l'angle de devers d'un vehicule a partir des efforts exerces sur les roues
EP2106980A1 (fr) * 2008-03-31 2009-10-07 Nissin Kogyo Co., Ltd. Procédé et appareil pour déterminer l'accélération latérale, et contrôleur de frein de véhicule à guidon
ITRM20080660A1 (it) * 2008-12-11 2010-06-12 Giorgio Carones "dispositivo limitatore del beccheggio di un veicolo"
EP2368777A1 (fr) * 2010-03-08 2011-09-28 POLO EXPRESSVERSAND Gesellschaft für Motorradbekleidung und Sportswear mbH Procédé et dispositif destinés à la détermination de positions inclinées de véhicules monotrace
JP2013541453A (ja) * 2010-09-14 2013-11-14 ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング 傾斜走行時の二輪車のブレーキトルクを調整する方法
CN103079918A (zh) * 2010-09-14 2013-05-01 罗伯特·博世有限公司 用于在倾斜位置行驶时在两轮车辆中调节制动力矩的方法
WO2012034738A1 (fr) * 2010-09-14 2012-03-22 Robert Bosch Gmbh Procédé pour le réglage du couple de freinage sur un véhicule à deux roues dans un déplacement en position inclinée
US9302660B2 (en) 2010-09-14 2016-04-05 Robert Bosch Gmbh Method for controlling braking torque in a two-wheeled vehicle when traveling in an inclined position
EP2657094A1 (fr) * 2010-12-20 2013-10-30 Bosch Corporation Système de freinage et procédé de commande de freinage
EP2657094A4 (fr) * 2010-12-20 2014-07-30 Bosch Corp Système de freinage et procédé de commande de freinage
WO2014009033A1 (fr) * 2012-07-10 2014-01-16 Robert Bosch Gmbh Procédé de stabilisation d'un deux roues en conduite en virage
US9573590B2 (en) 2012-07-10 2017-02-21 Robert Bosch Gmbh Method for stabilizing a two-wheeled vehicle during cornering
EP3133006A4 (fr) * 2014-04-16 2017-04-26 Yamaha Hatsudoki Kabushiki Kaisha Système pour estimer une poussée de carrossage, procédé pour estimer une poussée de carrossage, et véhicule
CN112534153A (zh) * 2018-08-21 2021-03-19 罗伯特·博世有限公司 控制装置及控制方法
CN112534153B (zh) * 2018-08-21 2022-12-13 罗伯特·博世有限公司 控制装置及控制方法

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