WO2018028818A1 - Véhicule à moteur - Google Patents

Véhicule à moteur Download PDF

Info

Publication number
WO2018028818A1
WO2018028818A1 PCT/EP2017/000926 EP2017000926W WO2018028818A1 WO 2018028818 A1 WO2018028818 A1 WO 2018028818A1 EP 2017000926 W EP2017000926 W EP 2017000926W WO 2018028818 A1 WO2018028818 A1 WO 2018028818A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor vehicle
instantaneous
longitudinal axis
central longitudinal
steering angle
Prior art date
Application number
PCT/EP2017/000926
Other languages
German (de)
English (en)
Inventor
Dieter Ammon
Magnus Rau
Steffen Wagner
Ralph Streiter
Claus-Michael Hainbuch
Original Assignee
Daimler Ag
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 Daimler Ag filed Critical Daimler Ag
Publication of WO2018028818A1 publication Critical patent/WO2018028818A1/fr

Links

Classifications

    • 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
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
    • B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis

Definitions

  • the invention relates to a motor vehicle.
  • Motor vehicles with an actively controllable rear axle steering allow a manipulation of the yaw rate or the transverse speed of the
  • WO 2005/044650 A1 deals with an apparatus and a method for determining a pivot point of a motor vehicle by one
  • the device is configured such that it determines the pivot point in dependence on a current yaw rate and a current slip angle of the motor vehicle.
  • the ratio of said two state variables that is, yaw rate and lateral velocity can be determined by the instantaneous position of the fulcrum of the
  • the basic idea of the invention is accordingly the position of a pivot of the
  • Motor vehicle to keep constant about its vertical axis along the central longitudinal axis, either at a predetermined position of the central longitudinal axis of the motor vehicle or at least within a predetermined range on the central longitudinal axis.
  • a fulcrum that point is defined on the central longitudinal axis of the motor vehicle, in which the instantaneous transverse speed during cornering has a zero value.
  • the adjustable instantaneous rear steering angle of the rear wheels of the motor vehicle can be used.
  • This can be varied by means of a control / regulating device present in the motor vehicle and a rear-axle steering system cooperating with the control / regulating device. This allows the desired keeping constant the position of the pivot point on the central longitudinal axis.
  • the control / regulating device can be designed as a conventional control unit and can also provide other important in connection with the control of the rear axle steering functionalities.
  • the driving behavior of the motor vehicle associated with the previously described regulation of the pivot point position is perceived by the driver as particularly pleasant and intuitive, ie "comprehensible", so that the driver perceives the motor vehicle as particularly easy to control.
  • a motor vehicle according to the invention comprises a front axle steering, by means of which an instantaneous front steering angle of the front wheels of the motor vehicle can be adjusted by actuation of a hand steering wheel present in the motor vehicle.
  • the motor vehicle has a rear axle steering, by means of which, preferably of a control / regulating device present in the motor vehicle, an instantaneous rear steering angle of the two rear wheels of the vehicle
  • the rear axle steering designed so that when cornering of the motor vehicle by varying the instantaneous rear steering angle, the position of a current Drehpols along the central longitudinal axis of the motor vehicle is variable.
  • a momentary pivot point is defined as a projection of the instantaneous pole of the motor vehicle along the transverse direction of the motor vehicle on its central longitudinal axis.
  • a fulcrum - with respect to a top view of the motor vehicle from above - that point of the motor vehicle defined in which during cornering the instantaneous transverse speed of the motor vehicle has a zero value.
  • a fulcrum distance the distance of the fulcrum from the center of gravity S of the motor vehicle 1 along the
  • Center longitudinal axis M denotes.
  • the fulcrum is defined as the point in a plan view of the motor vehicle in which, during cornering, the instantaneous lateral velocity of the motor vehicle has a zero value.
  • the motor vehicle comprises a cooperating with the rear axle steering control / regulating device by means of which the instantaneous rear steering angle is adjustable.
  • the control / regulating device is designed as a control unit, which by
  • Adjusting the current rear steering angle controls the current pivot point to a constant position along the central longitudinal axis of the motor vehicle. In this way, the desired, advantageous driving behavior of the motor vehicle in
  • the constant position of the fulcrum on the central longitudinal axis is determined in dependence on at least one predetermined parameter.
  • the at least one predetermined parameter may be the speed or the lateral acceleration of the motor vehicle. In other variants but also other parameters can be used. This allows a very flexible
  • the dependence of the constant position on the predetermined parameter in a characteristic field is defined and / or stored.
  • the constant or constant position of the fulcrum on the central longitudinal axis is expediently determined as a function of various variables, for example the instantaneous transverse speed and the instantaneous yaw rate of the motor vehicle.
  • the predetermined region of the central longitudinal axis can be assigned to a predefined driving program of the motor vehicle.
  • At least a first and a second area are provided, wherein the first area is assigned a first driving program and the second area is assigned a second driving program.
  • the first area is assigned a first driving program
  • the second area is assigned a second driving program.
  • Fig. 1 shows an example of a motor vehicle according to the invention in one
  • Fig. 2 shows the motor vehicle of Figure 1 in a plan view during a
  • Fig. 3 is an alternative to Figure 2 representation for explaining the
  • FIG. 1 shows an example of a motor vehicle 1 according to the invention in one embodiment
  • FIG. 2 shows the motor vehicle 1 in a plan view during cornering.
  • the trajectory of this cornering is indicated in Figure 2 by an arrow with the reference numeral 13.
  • the motor vehicle 1 therefore passes through a left turn.
  • the motor vehicle 1 comprises one only roughly illustrated in FIG.
  • the front wheels 3 are arranged on a front axle 5 of the motor vehicle 1 and the rear wheels 4 on a rear axle 6 of the motor vehicle 1.
  • a front axle steering 7 is formed, which in FIG. 2 only
  • the driver of the motor vehicle 1 can adjust the instantaneous steering angle of the front wheels 5 by actuating a hand steering wheel 8, which is also indicated only schematically.
  • an active rear axle steering 9 is formed, by means of which the instantaneous rear steering angle of the two rear wheels 4 of the motor vehicle 1 is adjustable.
  • the rear axle steering system 9 is controlled by a control / regulation device 10 provided in the motor vehicle 1, which can be designed as a conventional control unit.
  • the control / regulating device 10 can this purpose a
  • Control unit 11 and a memory unit 12 include. From the control In the case of the cornering along the trajectory 13 shown in FIG. 2, the control device 10 is a pivot point 14 of the motor vehicle 1 about its vertical axis H as
  • Controlled variable regulated to a constant on the central longitudinal axis M of the motor vehicle 1 position.
  • the pivot point 14 is defined as the point on the central longitudinal axis M, in which the instantaneous lateral velocity v q has a zero value when cornering. According to FIG. 2, an instantaneous yaw axis G along the vertical direction H of the motor vehicle 1 is fixed by the pivot point 14, around which the
  • Motor vehicle 1 performs a rotational movement. As a fulcrum distance, the distance of the fulcrum from the center of gravity S of the motor vehicle 1 along the
  • Center longitudinal axis M denotes.
  • FIG. 3 compared to the illustration of FIG. 2, the front axle 5 with the two front wheels 3 is shown in simplified form. The same applies to the rear axle 6 with the two rear wheels 5.
  • S center of mass of the motor vehicle 1
  • the velocity vector v v of the front axle 5 at the intersection 16 of the front axle 3 with the central longitudinal axis M is designated v v in this simplified illustration.
  • the velocity vector VH of the rear axle 6 at the intersection 17 of the rear axle 6 with the central longitudinal axis M is correspondingly denoted by v H.
  • the orthogonal to the velocity vector vv passing through the intersection 16 is shown in FIG.
  • Reference numeral 18 denotes.
  • the orthogonal to the velocity vector vv passing through the intersection 17 is designated by reference numeral 19.
  • Center longitudinal axis M to determine. This can be done by evaluating the current ones
  • the motor vehicle 1 a yaw rate sensor 16 for determining the current yaw rate of the motor vehicle 1 and / or a
  • Speed sensor 15 for determining the instantaneous transverse speed of the motor vehicle 1 transverse to the central longitudinal axis M include.
  • control / regulating device 10 is as
  • Steering angle controls the current pivot point 14 to a constant position along the central longitudinal axis M of the motor vehicle 1.
  • the position of the pivot point P on the central longitudinal axis M may be determined in dependence on one or more predetermined parameters. As appropriate
  • Parameters are in particular the speed and the lateral acceleration of the motor vehicle 1 into consideration. In other variants, however, other, other parameters can be used.
  • Such a functional dependency of the constant position on the predetermined parameter can be defined in a characteristic map which can be stored in a memory present in the control / regulation device 10.
  • the control / regulating device can several
  • Maps are stored, each map can be assigned to a specific driving program of the motor vehicle.
  • the motor vehicle 1 has a first and a second driving program.
  • the pivot point 14 is on the central longitudinal axis M in the direction of travel F in an area behind a center of gravity S of the motor vehicle 1 is arranged.
  • Such a (first) region of the central longitudinal axis M is in FIG. 2
  • Driving program the pivot point 14 on the central longitudinal axis M in the direction of travel F is arranged in front of the center of gravity S of the motor vehicle 1.
  • Such a (second) region of the central longitudinal axis M is designated by reference numeral 20b in FIG. 2 by way of example.
  • the first driving program is accompanied by one of the occupants of the motor vehicle 1 typically perceived as comfortable or "leisurely" behavior of the motor vehicle 1.
  • the second driving program is one of the occupants of the motor vehicle 1 usually perceived as athletic or "agile” driving behavior Motor vehicle 1 associated.
  • FIG. 3 thus shows the motor vehicle 1 with the first driving program activated.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Theoretical Computer Science (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

L'invention concerne un véhicule à moteur (1) comprenant un essieu avant directeur (7) permettant de régler un angle de braquage avant instantané des roues avant (3) du véhicule à moteur (1), un essieu arrière directeur (9) permettant de régler un angle de braquage arrière instantané des deux roues arrière (4) du véhicule à moteur (1), l'essieu directeur arrière (9) étant conçu de sorte que, lorsque le véhicule à moteur (1) négocie un virage, la position d'un point d'appui (14) instantané sur l'axe longitudinal central (M) du véhicule à moteur puisse varier sous l'effet d'une variation de l'angle de braquage arrière instantané.
PCT/EP2017/000926 2016-08-06 2017-07-31 Véhicule à moteur WO2018028818A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016009586.5 2016-08-06
DE102016009586.5A DE102016009586A1 (de) 2016-08-06 2016-08-06 Kraftfahrzeug

Publications (1)

Publication Number Publication Date
WO2018028818A1 true WO2018028818A1 (fr) 2018-02-15

Family

ID=59501383

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2017/000926 WO2018028818A1 (fr) 2016-08-06 2017-07-31 Véhicule à moteur

Country Status (2)

Country Link
DE (1) DE102016009586A1 (fr)
WO (1) WO2018028818A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017008303A1 (de) * 2017-09-05 2018-10-11 Daimler Ag Verfahren zum Betreiben eines Kraftfahrzeugs mit einer aktiv steuerbaren Hinterachslenkung

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0220476A (ja) * 1988-07-09 1990-01-24 Mazda Motor Corp 車両の後輪操舵装置
US20020029102A1 (en) * 2000-09-01 2002-03-07 Badenoch Scott Wilson Rear steering control with longitudinal shift in ackerman center
WO2005044650A1 (fr) 2003-10-31 2005-05-19 Robert Bosch Gmbh Dispositif de determination d'un point de rotation d'un vehicule autour d'un axe de lacet de vehicule
JP2007001365A (ja) * 2005-06-22 2007-01-11 Toyota Motor Corp 車両の操舵制御装置
JP2008024183A (ja) * 2006-07-21 2008-02-07 Toyota Motor Corp 操舵装置
EP1977954A2 (fr) * 2007-04-06 2008-10-08 Nissan Motor Co., Ltd. Appareil de direction, véhicule automobile avec celui-ci et procédé de commande de direction
EP2634061A2 (fr) * 2012-03-01 2013-09-04 Jtekt Corporation Système de commande d'attitude d'un véhicule

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013033917A1 (fr) * 2011-09-09 2013-03-14 长沙中联重工科技发展股份有限公司 Procédé et système de commande de direction d'une automobile et automobile
DE102014107309A1 (de) * 2014-05-23 2015-11-26 Valeo Schalter Und Sensoren Gmbh Verfahren zum Regeln einer Position eines Kraftfahrzeugs mit Hinterachslenkung, Fahrerassistenzsystem sowie Kraftfahrzeug
EP2974942B1 (fr) * 2014-06-30 2017-07-12 Danfoss Power Solutions Aps Procédé permettant de commander la direction d'un véhicule

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0220476A (ja) * 1988-07-09 1990-01-24 Mazda Motor Corp 車両の後輪操舵装置
US20020029102A1 (en) * 2000-09-01 2002-03-07 Badenoch Scott Wilson Rear steering control with longitudinal shift in ackerman center
WO2005044650A1 (fr) 2003-10-31 2005-05-19 Robert Bosch Gmbh Dispositif de determination d'un point de rotation d'un vehicule autour d'un axe de lacet de vehicule
JP2007001365A (ja) * 2005-06-22 2007-01-11 Toyota Motor Corp 車両の操舵制御装置
JP2008024183A (ja) * 2006-07-21 2008-02-07 Toyota Motor Corp 操舵装置
EP1977954A2 (fr) * 2007-04-06 2008-10-08 Nissan Motor Co., Ltd. Appareil de direction, véhicule automobile avec celui-ci et procédé de commande de direction
EP2634061A2 (fr) * 2012-03-01 2013-09-04 Jtekt Corporation Système de commande d'attitude d'un véhicule

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Publication number Publication date
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