CN100364824C - Rolling over damping control device for vehicle - Google Patents
Rolling over damping control device for vehicle Download PDFInfo
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- CN100364824C CN100364824C CNB2004100831251A CN200410083125A CN100364824C CN 100364824 C CN100364824 C CN 100364824C CN B2004100831251 A CNB2004100831251 A CN B2004100831251A CN 200410083125 A CN200410083125 A CN 200410083125A CN 100364824 C CN100364824 C CN 100364824C
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- 230000007246 mechanism Effects 0.000 claims abstract description 9
- 230000005764 inhibitory process Effects 0.000 claims description 21
- 230000001133 acceleration Effects 0.000 claims description 15
- 238000005096 rolling process Methods 0.000 claims description 14
- 230000004913 activation Effects 0.000 description 18
- 230000005283 ground state Effects 0.000 description 17
- 230000033228 biological regulation Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 239000012530 fluid Substances 0.000 description 3
- 230000008676 import Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 230000004044 response Effects 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
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Classifications
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- 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
- B60T8/24—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 vehicle inclination or change of direction, e.g. negotiating bends
- B60T8/245—Longitudinal vehicle inclination
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
-
- 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
- B60T8/17554—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for enhancing stability around the vehicles longitudinal axle, i.e. roll-over prevention
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- 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
- B60T8/58—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 responsive to speed and another condition or to plural speed conditions
-
- 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
- B60T2220/00—Monitoring, detecting driver behaviour; Signalling thereof; Counteracting thereof
- B60T2220/03—Driver counter-steering; Avoidance of conflicts with ESP control
-
- 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
- B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
- B60T2230/03—Overturn, rollover
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/30—Sensors
- B60Y2400/303—Speed sensors
- B60Y2400/3032—Wheel speed sensors
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The rollover suppressing control device is equipped with a rollover suppressing control means 33 performing the rollover suppressing control by controlling a braking mechanism so as to apply or increase the braking force to the turning outer wheel when it is determined that the vehicle is in an excessive roll state at the time of turning of the vehicle. When it is determined that both right and left wheels of the vehicle contact the ground by a determination means 35 during rollover suppressing control, all wheels braking control controlling the braking mechanism is performed so as to apply the braking force to both right and left wheels of the vehicle.
Description
Technical field
The present invention relates to a kind ofly, when vehicle is in excessive rolling condition, give the rolling over damping control device that braking force is tumbled the vehicle that suppresses control to the turning foreign steamer at Ackermann steer angle.
Background technology
The technology of the state when turning as control vehicle, developed following technology, that is: detect the rolling condition of vehicle body, under the situation that body roll increases, suppress body roll to suppress slide-out (rollover) (for example, opening flat 11-11272 communique) to specific wheel brake activation power with reference to the spy.
In this technology, detect at roll rate (bank velocity) vehicle body, and under the situation of the size of the roll rate that is detected more than or equal to specified value, and according to coming computing deflection angle speed by the detected deflection angle of steering angle sensor, and under the situation of size more than or equal to specified value of the deflection angle speed of institute's computing, the braking of control vehicle is to suppress body roll.
In order to suppress body roll, when reducing car speed, the turning that suppresses vehicle is an actv., and for example, the two-wheeled brake activation is an actv. to the front and back of turning foreign steamer side.
; the form that causes the turning of slide-out; except general folk prescription to turning; resemble the turning (turning) of following the revolution of bearing circle lane changing and the S word negotiation of bends and switching the turn direction of vehicle on the way in addition hereinafter referred to as revolution; in this revolution is turned; big waving takes place in the inclination direction at vehicle, only gives braking force to the turning foreign steamer of vehicle as mentioned above, may not fully suppress to tumble.
And, in this revolution is turned, owing to switch turn direction in the way, thereby under the situation that suppresses to control of tumbling, switch the turning foreign steamer that to control in the way, but because the handoff response time of braking force is long, thereby the braking mode that switches to the turning foreign steamer that should control fully need take a long time, from this aspect, can not suppress fully to tumble.
Summary of the invention
The present invention proposes in view of this problem, suppresses control setup even purpose provides the slide-out that also can fully suppress to tumble when a kind of revolution of switching the turn inside diameter direction is on the way turned.
In order to reach above-mentioned target, slide-out of the present invention suppresses control setup, and this slide-out suppresses control setup to have: stop mechanism, and it can be braked respectively the left and right wheels of vehicle; The rolling condition detecting unit, it detects the rolling condition of this vehicle; And the inhibition control unit of tumbling, it is tumbled and suppresses control by controlling this stop mechanism, make this Ackermann steer angle, detect this vehicle when being in excessive rolling condition at this rolling condition detecting unit, give or increase the braking force that applies to the turning foreign steamer, this slide-out suppresses control setup and is characterised in that also have: identifying unit, it is tumbled at this and suppresses to judge whether the left and right wheels of this vehicle all contacts with the road surface in the control; Left and right wheels that this identifying unit is judged to be this vehicle all with situation that the road surface contacts under, this is tumbled and suppresses control unit and carry out this stop mechanism is controlled all to give the full wheel control of braking of braking force to the left and right wheels of this vehicle.
In addition, in said structure, the left and right wheels of vehicle all is meant that with the road surface state of contact left and right wheels is all with sufficient load and road surface state of contact.
According to this structure, during the revolution of following bearing circle revolution and switch the turn inside diameter direction on the way resembling lane changing and S word negotiation of bends is turned, big waving takes place in the inclination direction at vehicle, only give braking force to the turning foreign steamer of vehicle as mentioned above, may not suppress fully to tumble, but 4 of generation take turns under the ground state (4 take turns with sufficient load and road surface state of contact) when revolution is turned, owing to take turns brake activation power to 4, thereby can suppress the speed of vehicle, and go far towards to suppress to tumble.
And, this 4 to take turns ground state be to take place when the side of turning foreign steamer from left and right wheels who is wanting brake activation power in being turned in the way in revolution switches to the opposing party, but because by 4 taking turns all brake activation power to 4 when taking turns ground connection at this, the state of the side's brake activation power from take turns to the left and right, through taking turns all states of brake activation power to 4, be transformed into the state of the opposing party's brake activation power in taking turns to the left and right, thereby, can successfully switch to the opposing party to the side of brake wheel from left and right wheels, put from this, can suppress fully to tumble.
Preferably, this identifying unit is tumbled at this and is suppressed in the control, is to switch the revolution of turn direction in the way when turning in the turning of this vehicle, can infer that at the angle of roll of this vehicle the left and right wheels that is judged to be this vehicle all contacts with the road surface under 0 the situation of being roughly.
And, preferably, this identifying unit is tumbled at this and is suppressed in the control, turning at this vehicle is when switching the revolution turning of turn direction in the way, in the size of the roll rate of this vehicle during more than or equal to predefined specified value, the angle of roll that is speculated as this vehicle is roughly 0, and the left and right wheels that is judged to be this vehicle all contacts with the road surface.
And, preferably, this identifying unit is tumbled at this and is suppressed in the control, turning at this vehicle is when switching the revolution turning of turn direction in the way, when the size of the transverse acceleration of this vehicle is lower than near predefined 0 specified value, the angle of roll that is speculated as this vehicle is roughly 0, and the left and right wheels that is judged to be this vehicle all contacts with the road surface.
Preferably, this is tumbled and suppresses this inhibition control back end wheel control of braking entirely of tumbling that control unit is implemented predefined specified time.
Description of drawings
Fig. 1 is the controlling party block diagram that the slide-out of an embodiment of the invention suppresses control setup.
Fig. 2 is the system construction drawing that the slide-out of an embodiment of the invention suppresses control setup.
Fig. 3 (a) and Fig. 3 (b) suppress the scheme drawing that the control of control setup describes to the slide-out of an embodiment of the invention.
Fig. 4 (a)～Fig. 4 (d) suppresses the figure that the control of control setup describes to the slide-out of an embodiment of the invention.
Fig. 5 suppresses the diagram of circuit that the control of control setup describes to the slide-out of an embodiment of the invention.
Fig. 6 suppresses the diagram of circuit that the control of control setup describes to the slide-out of an embodiment of the invention.
The specific embodiment
Below, with reference to the accompanying drawings embodiments of the present invention are described.
Fig. 1～Fig. 6 is the figure that the slide-out of expression an embodiment of the invention suppresses control setup, Fig. 1 is the controlling party block diagram of this inhibition control, Fig. 2 is the integrally-built system construction drawing that expression has the motor vehicle braking system of this device, Fig. 3 (a) and Fig. 3 (b) are the scheme drawings of the relation of the turn direction of the vehicle of expression with this device and the common brake wheel when suppressing control of tumbling, Fig. 4 (a)～Fig. 4 (d) suppresses the figure that the control of control setup describes to the slide-out of an embodiment of the invention, and Fig. 5 and Fig. 6 control the diagram of circuit that describes to this inhibitions.
This slide-out suppresses control setup and is provided in the motor vehicle braking system shown in Figure 2.That is to say that as shown in Figure 2, this motor vehicle braking system has: brake pedal 1; Master cylinder 2, the interlock work of entering into of itself and brake pedal 1; And hydraulic pressure unit 6, it is according to the state of master cylinder 2 or according to the instruction that comes self-retention with controller (braking ECU) 3, to controlling to the brake fluid pressure of the wheel cylinder supply of the car side brake (hereinafter referred to as drg) 10 of each brake wheel (left and right wheels of front-wheel and the left and right wheels of trailing wheel) 5FL, 5FR, 5RL, 5RR from master cylinder 2 or brake reservoir 4.In addition, herein, stop mechanism is made of car side brake 10 of hydraulic pressure Adjustment System such as master cylinder 2, hydraulic pressure unit 6 and each brake wheel etc.
(Fig. 2 only illustrates the left and right wheels drg of front-wheel) as shown in Figure 2, in hydraulic pressure unit 6, under the action master mode of vehicle, differential pressure valve 68 work make the difference of pressure that produces regulation at the upstream and downstream of differential pressure valve 68.
Under the action master mode of vehicle, when brake pedal is not entered into, because interior lines suction valve 61 closures, outside line suction valve 62 is open, thereby the braking liquid in the brake reservoir 4 is imported into by outside line 64, outside line suction valve 62 and pump 65, pressurize by pump 65, and carry out the pressure adjustment, be supplied to the drg 10 of each wheel then by hydraulic pressure hold-off valve 66 and reducing valve 67.
Under the action master mode of vehicle, when brake pedal is entered into, because interior lines suction valve 61 is open, outside line suction valve 62 closures, thereby the braking liquid in the master cylinder 2 is imported into by interior lines 63, interior lines suction valve 61 and pump 65, pressurize by pump 65, and carry out the pressure adjustment, be supplied to the drg 10 of each wheel then by hydraulic pressure hold-off valve 66 and reducing valve 67.
In addition, interior lines 63 and outside line 64 are in the merge downstream of interior lines suction valve 61 and outside line suction valve 62, dispose pump 65 in this downstream of converging part,, be equipped with hydraulic pressure hold-off valve 66 and reducing valve 67 respectively at each brake wheel 5FL, 5FR, 5RL, 5RR in the downstream of pump 65.
At common glancing impact, interior lines suction valve 61 and outside line suction valve 62 closures, differential pressure valve 68 and hydraulic pressure hold-off valve 66 are open, reducing valve 67 closures.Like this, with master cylinder 2 in the cooresponding brake fluid pressure of pressure (that is braking legpower) be supplied to the drg 10 of each wheel by interior lines 63, differential pressure valve 68 and hydraulic pressure hold-off valve 66.And, when ABS (anti-locking brake system or anti-skid brake system) work, suitably adjust with the cooresponding brake fluid pressure of braking legpower by 67 pairs of hydraulic pressure hold-off valve 66 and reducing valves, so that wheel lock does not take place.
The hydraulic pressure hold-off valve 66 of the interior lines suction valve 61 of this hydraulic pressure unit 6, outside line suction valve 62, pump 65 and each brake wheel, reducing valve 67 and differential pressure valve 68 are controlled by braking ECU3.
ECU3 imports respectively to braking: the steering wheel angle signal of the steering wheel angle sensor of setting up on the next comfortable wheel flutter (bearing circle) 11; The body roll rate signal of the roll rate sensor (rolling condition detecting unit) 13 that is provided with on the next comfortable vehicle body; Wheel velocity signal from the vehicle-wheel speed sensor 15 of each wheel; From the brake pedal of brake switch 16 signal of entering into; And front and back acceleration signal, the transverse acceleration signal of the front and back/lateral acceleration sensor 17 that is provided with on the next comfortable vehicle body.
Have each functional imperative shown in Figure 1 in the braking ECU3, that is: import the various information relevant and these input informations are suitably handled the chaufeur driving condition input part 31 that export the back with the chaufeur driving condition; Import the various information relevant and these input informations are suitably handled the state of motion of vehicle input part 32 that export the back with state of motion of vehicle (action); And tumble and suppress control unit 33.
In chaufeur driving condition input part 31, judge according to the signal of entering into from the brake pedal of brake switch 16 whether brake pedal is entered into, and according to steering wheel angle signal from steering wheel angle sensor 11, to steering wheel angle seeking time differential, calculate bearing circle cireular frequency (deflection angle speed).
In state of motion of vehicle input part 32, calculate vehicle body speed, roll rate and transverse acceleration.Vehicle body speed is usually according to calculating from the wheel velocity signal of vehicle-wheel speed sensor 15, if but wheel skids, then calculate (being to infer vehicle body speed in this case) the time integral value of the front and back acceleration/accel of the past post-acceleration sensor 17 acquisitions and based on the vehicle body speed addition of the wheel speed signal that so far obtains.
In the inhibition control unit 33 of tumbling, have: the turning identifying unit 34 that the turning of judgement vehicle begins and finishes; The beginning that judging tumbles suppresses control and the control identifying unit 35 of end; Tumble whether judge when suppressing control 4 take turns all contact with the road surface 4 take turns ground connection identifying unit 36; And the controlling quantity setup unit 37 of when tumbling inhibition control, setting the controlling quantity (tumble and suppress the control braking force) that applies to each brake wheel.
In the inhibition control unit 33 of tumbling, if being judged to be should begin to tumble, control identifying unit 35 suppresses control, then begin to tumble and suppress to control, if being judged to be should finish to tumble, control identifying unit 35 suppresses control, then finish the inhibition control of tumbling.When tumbling inhibition control, if 4 take turns all and the road surface state of contact, then carry out taking turns the control (taking turns control of braking entirely) of all giving braking force to 4, take turns all and the road surface state of contact if not 4, then carry out giving the control of braking force to the turning foreign steamer that contacts with the road surface.This control of braking is to control when using controlling quantity setup unit 37 to set controlling quantity (braking force).
In addition, suppress in the control, for example shown in Fig. 3 (a) and Fig. 3 (b), in common tumbling to the front and back wheel additional brake power of turning foreign steamer.The size of the braking force that added this moment is set for and roll rate R by controlling quantity setup unit 37
rBig or small cooresponding value.In addition, in order to suppress inclination, suppressing the vehicle yaw rate and suppressing the speed of a motor vehicle all is actv., but goes far towards to suppress the vehicle yaw rate to the braking force that the front-wheel of turning foreign steamer is given, and the braking force of giving to the trailing wheel of turning foreign steamer goes far towards to suppress the speed of a motor vehicle.
In turning identifying unit 34, when following each condition is all set up, be judged to be turn inside diameter and begin, this condition is: (i) vehicle body speed V
bMore than or equal to a reference value (predefined low speed value) V
1And the (ii) lateral acceleration G of vehicle body
ySize more than or equal to a reference value (predefined regulation acceleration/accel) G
Y1And, in turning identifying unit 34, when one of following each condition is set up, being judged to be turn inside diameter and finishing, this condition is: (iii) vehicle body speed V
bBe lower than a reference value (predefined low speed value) V
2(wherein, V
2＜V
1); And (iiii) lateral acceleration G of vehicle body
ySize be lower than a reference value (predefined regulation acceleration/accel) G
Y2(wherein, G
Y2＜G
Y1).
In control identifying unit 35, when the control beginning condition of regulation is set up, according to the roll rate R that is detected
rTumble and suppress control.Herein, control beginning condition is that following two conditions are all set up, and these two conditions are: it is in turning that turning identifying unit 34 is judged to be; And as with the roll rate R of the rolling condition corresponding parameters value of vehicle
rSize begin threshold value R more than or equal to predefined control
Rs1.
And in control identifying unit 35, in the inhibition control of tumbling, when the control termination condition of regulation was set up, inhibition control finished to tumble.Herein, the control termination condition is that one of following two conditions are set up, and these two conditions are: during turning identifying unit 34 is judged to be and is not to turn; And roll rate R
rSize be lower than predefined control and finish threshold value R
Rs2 (R
Rs2＜R
Rs1).
Take turns in the ground connection identifying unit 36 4, when tumbling inhibition control, (for example turn in the rotating revolution of travel direction dish, when lane changing and S word negotiation of bends) situation under, whether judge that 4 take turns all and contact with the road surface with abundant load, but, judge herein according to roll rate.The judgement that revolution is turned can whether reverse according to the bearing circle angular velocity omega (opposite) with former direction judge.
Herein, this 4 is taken turns the ground connection situation and describe.
That is to say, if suitably implement bearing circle operation and speed of a motor vehicle operation, then for example shown in Fig. 4 (c) and Fig. 4 (d), the size of roll rate and the size of angle of roll can be inexcessive, can not reach rollover, if and implement bearing circle operation and speed of a motor vehicle operation inadequately, then for example as Fig. 4 (a) and Fig. 4 (b) shown in, have the big or small excessive of the size of roll rate and angle of roll and reach the situation of rollover.
For example, shown in the solid line of Fig. 4 (a), under the not rotating common turning of travel direction dish (folk prescription be'ss to turning) situation, steering wheel angle α increases shown in curve LH1 in one direction.At this moment, roll rate R
rShown in curve LR1, along with the increase (that is, during the veer dish) of steering wheel angle α, the outside suddenly increases turning.As this roll rate R
rBig or small beyond the mark the time, shown in curve LA1, the size of angle of roll increases, as symbol A[with reference to Fig. 4 (a) and Fig. 4 (b)] shown in, existence reaches the situation of rollover.
On the other hand, shown in the dotted line of Fig. 4 (a), under the situation that the rotating revolution of travel direction dish is turned (for example, when lane changing and S word negotiation of bends), steering wheel angle α shown in curve LH2 on the way towards opposite sense.At this moment, roll rate R
rShown in curve LR2, along with steering wheel angle α increase (that is, during bearing circle revolution beginning) round about, anxious increasing outside revolution is turned.And, as roll rate R
rBig or small beyond the mark the time, shown in curve LA2, the size of angle of roll increases, as symbol B[with reference to Fig. 4 (a) and Fig. 4 (b)] shown in, existence reaches the situation of rollover.
Under the situation that this revolution is turned, owing to change turn direction in the way, thereby the turning foreign steamer also switches.When for example carrying out when left-hand rotation is bent to the bearing circle revolution of right-hand corner, when the turnon left of beginning, the car weight deflection is as the right side wheel of turning foreign steamer, turns round afterwards and when becoming right-hand corner, the car weight deflection is as the revolver of turning foreign steamer.Like this, switch to the revolver side or when the revolver side switches to right wheel side, certainly in this way, take place 4 and take turns from right side wheel side in car weight deflection with sufficient load and road surface state of contact (being referred to as " 4 take turns ground state ").
Take turns in the ground connection identifying unit 36 4, judge it whether is this 4 to take turns ground state.
4 take turns with what sufficient load contacted with the road surface and 4 take turns ground state, big slight state with steering wheel angle, the perhaps big slight state correspondence of side tilt angle, if it is be conceived to roll rate, then corresponding with the state that increases to a certain degree of roll rate size after the bearing circle revolution.
Therefore, take turns in the ground connection identifying unit 36 4, as the roll rate R that is detected
rSize take turns ground connection more than or equal to predefined 4 and judge roll rate threshold value R
Rs3 o'clock, be judged to be " be 4 take turns 4 take turns ground state " with what sufficient load contacted with the road surface.In addition, in general, 4 take turns ground connection judges roll rate threshold value R
Rs3 more than or equal to control beginning threshold value R
Rs1 (R
Rs1＜R
Rs3), but take turns the beginning that ground connection is controlled, also can be set at R in order to accelerate 4
Rs3＜R
Rs1.
In controlling quantity setup unit 37, when tumbling inhibition control, usually the time, promptly, as long as 4 to take turns that ground connection identifying unit 36 is not judged to be 4 to take turns ground state, the controlling quantity that applies to corresponding turning foreign steamer according to settings such as roll rate (tumble suppress control use braking force) just is to give braking force to the turning foreign steamer.On the other hand, taking turns 4 that ground connection identifying unit 36 is judged to be is 4 when taking turns ground state, according to the controlling quantity (tumble and suppress the control braking force) that settings such as roll rate apply to corresponding each wheel, all gives braking force to take turns to 4.Certainly, this controlling quantity also can be predefined specified value, and not corresponding with roll rate.And, take turns the state continuance of all giving braking force to 4 and carry out predefined specified time (small time), afterwards, before finishing this inhibition control of tumbling, do not carry out 4 and take turns the judgement of ground connection identifying unit 36, suppress control but implement common tumbling, that is, implement the control of giving braking force to the turning foreign steamer.
As above constitute because the slide-out of an embodiment of the invention suppresses control setup, thereby for example as shown in Figure 5 and Figure 6, implement control.
That is to say that as shown in Figure 5, at first in steps A 5, input is judged the beginning of the inhibition control of tumbling or finished required parameter.In steps A 10, judge whether implementing to tumble inhibition control then according to sign F1.The sign F1 relevant with this judgement represents whether be the sign (tumble suppress control implement sign) of the state that suppresses control of tumbling, initial value is set to 0.Herein, under the situation of F1=0, suppress control owing to tumble, thereby enter steps A 20, judging tumbles suppresses the beginning condition of control.And, under the situation of F1=1, suppress control owing to begun to tumble, thereby enter steps A 50, judging tumbles suppresses the termination condition of control.
In steps A 20,, judge according to aforementioned decision condition whether the beginning condition that suppresses control of tumbling is set up according to the parameter of input in steps A 5.Under the situation that this condition is set up, enter steps A 30, F1 is set for 1 (opening), in steps A 40, begin to tumble and suppress control, and finish this flow process.And, under the invalid situation of this condition, finish this flow process and do not change the sign or control.
On the other hand, under the situation that is judged to be F1=1 in steps A 10, in steps A 50,, judge according to aforementioned decision condition whether the termination condition that suppresses control of tumbling is set up according to the parameter of input in steps A 5.Under the situation that this condition is set up, enter steps A 60, F1 sets 0 for sign, finishes to tumble in steps A 70 and suppresses control, and finish this flow process.And, under the invalid situation of this condition, finish this flow process and do not change the sign or control.
As shown in Figure 6, tumbling, it is as follows to suppress control: at first in step B10, input is judged the beginning of the inhibition control of tumbling or finishes required parameter that in step B20, judging tumbles suppresses whether control enforcement sign F1 is 1 then.If sign F1 is 1, then enter step B30, whether determination flag F2 is 1.
The sign F2 relevant with this judgement represents whether be to carry out 4 to take turns ground connection control, promptly, whether be that the braking force that carrying out suppressing being used to tumble is given the state to 4 controls of taking turns, and 4 take turns ground connection time control sign of whether having implemented to finish when taking turns ground connection (4 control implement sign), initial value is set to 0, is configured to 1 when implementing 4 controls when taking turns ground connection, suppresses in the control continuing to tumble, if control and end then are configured to 2 when having implemented to take turns ground connection 1 time 4.
If sign F2 is not 1 in step B30, then enter step B40, according to for example bearing circle angular velocity omega whether reverse (opposite) with former direction judge that whether current turning is lane changing (revolution is turned).
Herein, if not lane changing (revolution is turned), then enter step B120, suppress control in order to carry out common tumbling, promptly, carry out control, set controlling quantity (braking force that will apply), and implement control of braking (step B130) according to this controlling quantity according to roll rate to turning foreign steamer brake activation power.
If be judged to be in step B40 is lane changing (revolution is turned), then enters step B45, and whether determination flag F2 is 0.In step B45, not 0 if be judged to be sign F2, then enter step B120, step B130, suppress control with common the tumbling of above-mentioned same enforcement.If being judged to be sign F2 in step B45 is 0, then enter step B50, judge it whether is 4 to take turns ground state.In this is judged, as previously mentioned, as the roll rate R that is detected
rTake turns ground connection more than or equal to predefined 4 and judge roll rate threshold value R
Rs3 o'clock, be judged to be " be 4 take turns 4 take turns ground state " with what sufficient load contacted with the road surface.
Not that 4 take turns ground state if in step B50, be judged to be, then enter step B120, step B130, suppress control with common the tumbling of above-mentioned same enforcement.
On the other hand, be 4 to take turns ground state if in step B50, be judged to be, then enter step B60, F2 sets 1 for sign, enters step B70, beginning timer counting, and then in step B80, judge whether this timer value of counting is lower than predefined specified value.
When timer value is lower than specified value, enter step B90, for 4 take turns ground state corresponding come to take turns to 4 give braking force, set controlling quantity (braking force that will apply) according to roll rate, and implement control of braking (step B130) according to this controlling quantity.
When timer value during more than or equal to specified value, enter step B100 from step B80, F2 sets 2 for sign, enters step B110, stops the timer counting, and timer is reset to 2.Then, enter step B120, step B130, suppress control with common the tumbling of above-mentioned same enforcement.
In addition, when suppressing to finish (sign F1 is 0) when tumbling, sign F2 also resets to 2 (step B140).
Like this, when suppressing to have implemented in the control lane changing (revolution is turned) when tumbling, when perhaps having implemented to tumble inhibition control because of lane changing (revolution is turned), taking place in the way 4 takes turns with what abundant load contacted with the road surface and 4 takes turns ground state, this 4 is taken turns ground state and judge, afterwards, at the appointed time, taking turns brake activation power to 4 reduces to suppress the inclination generation speed of a motor vehicle, afterwards, under the situation of the wheel of load car weight deflection turning foreign steamer side, and if tumble that to suppress control be necessary, only then turn back to general control to turning foreign steamer side brake activation power.
Therefore, when considering the road surface contact load, take turns when contacting with the road surface 4 with sufficient load, take turns braking by 4 and suppress the speed of a motor vehicle fully, tumble suppressing, only when turning foreign steamer side contacts with the road surface with sufficient load, by only to turning foreign steamer side brake activation power, the inhibition and the speed of a motor vehicle that can carry out deflecting torque expeditiously suppress, and can suppress to tumble.
And, because 4 to take turns ground state be to take place when answering the side of turning foreign steamer from left and right wheels of brake activation power to switch to the opposing party in being turned in the way in revolution, thereby by 4 taking turns all brake activation power to 4 when taking turns ground connection at this, the state of the side's brake activation power from take turns to the left and right is through taking turns all states of brake activation power to 4, be transformed into the state of the opposing party's brake activation power in taking turns to the left and right, therefore can successfully switch to the opposing party to the side of brake wheel from left and right wheels, put from this, also can suppress fully to tumble.
More than, embodiments of the present invention are illustrated, yet the invention is not restricted to present embodiment, can in the scope that does not deviate from purport of the present invention, carry out various distortion and implement.
For example, in the above-described embodiment, when revolution is turned, carry out 4 according to roll rate and take turns ground connection judgement, yet 4 take turns ground connection judgement and be not limited thereto, can be for example carry out 4 and take turns ground connection judgement according to the transverse acceleration of vehicle and angle of roll.That is to say that 4 to take turns ground state be exactly transverse acceleration and the angle of roll state little the time, thereby, if, then can being judged to be 4 smaller or equal to pre-set threshold, transverse acceleration and angle of roll take turns ground connection.
And, in the above-described embodiment, take turns after ground connection judges 4, implement to take turns 4 of the braking force that all applies the predefined time and take turns ground connection control, yet also can adopt following logic: take turns after ground connection judges 4 to 4, beginning is taken turns 4 of brake activation power all to 4 and is taken turns ground connection control, afterwards, not that 4 take turns the connected to chassis state being in, promptly, when car weight mainly imposes on the state of turning foreign steamer, finish 4 and take turns ground connection control.In this case, whether be in the state that car weight mainly imposes on the turning foreign steamer, can judge according to parameters such as roll rate, transverse acceleration, angle of rolls.
Claims (5)
1. a slide-out suppresses control setup, and this slide-out suppresses control setup to have:
Stop mechanism (2,6,10), it can be braked respectively the left and right wheels of vehicle;
Rolling condition detecting unit (13), it detects the rolling condition of this vehicle; And
Tumble and suppress control unit (33), it is by this stop mechanism (2,6 of control, 10) tumble and suppress control, make, detect this vehicle when being in excessive rolling condition at this rolling condition detecting unit (13) at this Ackermann steer angle, give or increase the braking force that applies to the turning foreign steamer
This slide-out suppresses control setup and is characterised in that also have:
Identifying unit (36), it is tumbled at this and suppresses to judge whether the left and right wheels of this vehicle all contacts with the road surface in the control;
Left and right wheels that this identifying unit (36) is judged to be this vehicle all with situation that the road surface contacts under, this inhibition control unit (33) of tumbling carries out this stop mechanism (2,6,10) control all to give the full wheel control of braking of braking force to the left and right wheels of this vehicle.
2. slide-out according to claim 1 suppresses control setup, it is characterized in that, this identifying unit (36) is tumbled at this and is suppressed in the control, turning at this vehicle is when switching the revolution turning of turn direction in the way, can be speculated as under 0 the situation of being roughly at the angle of roll of this vehicle, the left and right wheels that is judged to be this vehicle all contacts with the road surface.
3. slide-out according to claim 2 suppresses control setup, it is characterized in that, this identifying unit (36) is tumbled at this and is suppressed in the control, turning at this vehicle is when switching the revolution turning of turn direction in the way, in the size of the roll rate of this vehicle during more than or equal to predefined specified value, the angle of roll that is speculated as this vehicle is roughly 0, and the left and right wheels that is judged to be this vehicle all contacts with the road surface.
4. slide-out according to claim 2 suppresses control setup, it is characterized in that, this identifying unit (36) is tumbled at this and is suppressed in the control, turning at this vehicle is when switching the revolution turning of turn direction in the way, when the size of the transverse acceleration of this vehicle is lower than near predefined 0 specified value, the angle of roll that is speculated as this vehicle is roughly 0, and the left and right wheels that is judged to be this vehicle all contacts with the road surface.
5. slide-out according to claim 1 suppresses control setup, it is characterized in that, wheel control of braking is entirely finished to be somebody's turn to do in this this inhibition control back of tumbling that suppresses the predefined specified time of control unit (33) enforcement of tumbling.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2003341506A JP4228865B2 (en) | 2003-09-30 | 2003-09-30 | Rollover suppression control device for vehicle |
| JP2003341506 | 2003-09-30 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1603184A CN1603184A (en) | 2005-04-06 |
| CN100364824C true CN100364824C (en) | 2008-01-30 |
Family
ID=34536094
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2004100831251A Expired - Fee Related CN100364824C (en) | 2003-09-30 | 2004-09-30 | Rolling over damping control device for vehicle |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP4228865B2 (en) |
| KR (1) | KR100615487B1 (en) |
| CN (1) | CN100364824C (en) |
| DE (1) | DE102004046985A1 (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5402478B2 (en) * | 2009-09-30 | 2014-01-29 | 株式会社アドヴィックス | Vehicle motion control device |
| DE102009055776A1 (en) * | 2009-11-25 | 2011-05-26 | Conti Temic Microelectronic Gmbh | Method for estimating the roll angle in a moving vehicle |
| JP6378082B2 (en) * | 2014-12-26 | 2018-08-22 | 株式会社Ｓｕｂａｒｕ | Vehicle control apparatus and vehicle control method |
| US20170305398A1 (en) * | 2016-04-22 | 2017-10-26 | Hon Hai Precision Industry Co., Ltd. | Brake assistant control system and method thereof |
| CN106004829B (en) * | 2016-07-04 | 2018-10-30 | 福州大学 | Loading machinery safe and intelligent auxiliary system and method |
| DE102018101182A1 (en) * | 2018-01-19 | 2019-07-25 | Thyssenkrupp Ag | A method for avoiding flashovers of a motor vehicle by means of torque vectoring |
| JP7056349B2 (en) * | 2018-04-23 | 2022-04-19 | トヨタ自動車株式会社 | Automatic tilt vehicle |
| JP7443785B2 (en) * | 2019-01-25 | 2024-03-06 | 株式会社アドヴィックス | Vehicle behavior control device |
| CN110341697B (en) * | 2019-07-19 | 2020-09-01 | 王亚 | Vehicle steering active roll control method |
| JP7456150B2 (en) * | 2019-12-24 | 2024-03-27 | 株式会社アドヴィックス | brake control device |
| CN112141080B (en) * | 2020-09-08 | 2022-02-15 | 北京踏歌智行科技有限公司 | Anti-rollover control method for transport vehicle in mining area |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5857754A (en) * | 1996-02-02 | 1999-01-12 | Aisin Seiki Kabushiki Kaisha | Vehicle motion control system |
| US6074020A (en) * | 1995-12-13 | 2000-06-13 | Fuji Jukogyo Kabushiki Kaisha | Braking force control system for turning having correction parameters capabilities and method thereof |
| US6076898A (en) * | 1997-04-18 | 2000-06-20 | Aisin Seiki Kabushiki Kaisha | Braking control system for a four-wheel drive vehicle |
| US6086168A (en) * | 1996-08-16 | 2000-07-11 | Daimlerchrysler Ag | Method for operating a motor vehicle with driving-stabilizing brake interventions |
-
2003
- 2003-09-30 JP JP2003341506A patent/JP4228865B2/en not_active Expired - Fee Related
-
2004
- 2004-09-24 KR KR20040076720A patent/KR100615487B1/en not_active Expired - Fee Related
- 2004-09-28 DE DE200410046985 patent/DE102004046985A1/en not_active Ceased
- 2004-09-30 CN CNB2004100831251A patent/CN100364824C/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6074020A (en) * | 1995-12-13 | 2000-06-13 | Fuji Jukogyo Kabushiki Kaisha | Braking force control system for turning having correction parameters capabilities and method thereof |
| US5857754A (en) * | 1996-02-02 | 1999-01-12 | Aisin Seiki Kabushiki Kaisha | Vehicle motion control system |
| US6086168A (en) * | 1996-08-16 | 2000-07-11 | Daimlerchrysler Ag | Method for operating a motor vehicle with driving-stabilizing brake interventions |
| US6076898A (en) * | 1997-04-18 | 2000-06-20 | Aisin Seiki Kabushiki Kaisha | Braking control system for a four-wheel drive vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2005104344A (en) | 2005-04-21 |
| JP4228865B2 (en) | 2009-02-25 |
| KR20050031932A (en) | 2005-04-06 |
| CN1603184A (en) | 2005-04-06 |
| DE102004046985A1 (en) | 2005-09-29 |
| KR100615487B1 (en) | 2006-08-25 |
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