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DE10342865A1 - Verfahren zum Stabilisieren eines Kraftfahrzeug-Gespanns - Google Patents

Verfahren zum Stabilisieren eines Kraftfahrzeug-Gespanns Download PDF

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Publication number
DE10342865A1
DE10342865A1 DE10342865A DE10342865A DE10342865A1 DE 10342865 A1 DE10342865 A1 DE 10342865A1 DE 10342865 A DE10342865 A DE 10342865A DE 10342865 A DE10342865 A DE 10342865A DE 10342865 A1 DE10342865 A1 DE 10342865A1
Authority
DE
Germany
Prior art keywords
yaw rate
stabilizing
motor vehicle
adjustment
steering intervention
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
DE10342865A
Other languages
English (en)
Inventor
Matthias Grupp
Reent Heyken
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bayerische Motoren Werke AG
Original Assignee
Bayerische Motoren Werke 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 Bayerische Motoren Werke AG filed Critical Bayerische Motoren Werke AG
Priority to DE10342865A priority Critical patent/DE10342865A1/de
Publication of DE10342865A1 publication Critical patent/DE10342865A1/de
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • 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
    • B60T8/1701—Braking or traction control means specially adapted for particular types of vehicles
    • B60T8/1708—Braking or traction control means specially adapted for particular types of vehicles for lorries or tractor-trailer combinations
    • 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
    • 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
    • B60T8/241—Lateral vehicle inclination
    • B60T8/243—Lateral vehicle inclination for roll-over protection
    • 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
    • B60T8/246—Change of direction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D13/00—Steering specially adapted for trailers
    • 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
    • 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
    • B60T2230/06—Tractor-trailer swaying
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/14—Yaw

Landscapes

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

Abstract

Die Erfindung betrifft ein Verfahren zum Stabilisieren eines durch ein Kraftfahrzeug mit einem Anhänger gebildeten Gespanns bei Auftreten einer Schlingerbewegung, die von einer geeigneten Sensorik erkannt wird, wobei das Kraftfahrzeug ein Lenksystem mit einer Gierratenregelung aufweist, welches bei einer gewissen Abweichung der gemessenen Ist-Gierrate des Kraftfahrzeugs von einer errechneten Soll-Gierrate mittels eines fahrerunabhängigen Lenkeingriffes eine Stabilisierung des Kraftfahrzeugs bewirken kann. Dabei wird im Gespannbetrieb bei Auftreten einer gewissen Abweichung zwischen der Ist-Gierrate und der Soll-Gierrate neben der Durchführung eines stabilisierenden Lenkeingriffs das Antriebsmoment des Kraftfahrzeugs erheblich reduziert und danach in den Fällen, in denen hierdurch keine Angleichung der Ist-Gierrate an die Soll-Gierrate erfolgt, das Bremssystem des Kraftfahrzeugs aktiviert. Dabei kann das Bremssystem im Hinblick auf eine Reduzierung der Fahrgeschwindigkeit auf einen Wert unterhalb der sog. kritischen Geschwindigkeit des Gespanns und/oder im Hinblick auf den Aufbau stabilisierender Gegen-Giermomente aktiviert werden.
DE10342865A 2003-09-15 2003-09-15 Verfahren zum Stabilisieren eines Kraftfahrzeug-Gespanns Withdrawn DE10342865A1 (de)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE10342865A DE10342865A1 (de) 2003-09-15 2003-09-15 Verfahren zum Stabilisieren eines Kraftfahrzeug-Gespanns

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE10342865A DE10342865A1 (de) 2003-09-15 2003-09-15 Verfahren zum Stabilisieren eines Kraftfahrzeug-Gespanns

Publications (1)

Publication Number Publication Date
DE10342865A1 true DE10342865A1 (de) 2005-04-21

Family

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Family Applications (1)

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DE10342865A Withdrawn DE10342865A1 (de) 2003-09-15 2003-09-15 Verfahren zum Stabilisieren eines Kraftfahrzeug-Gespanns

Country Status (1)

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DE (1) DE10342865A1 (de)

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102007009834A1 (de) 2007-02-28 2008-09-04 Bayerische Motoren Werke Aktiengesellschaft Vorrichtung und Verfahren zur Stabilisierung eines Kraftfahrzeug-Gespanns
WO2009003802A1 (de) * 2007-06-29 2009-01-08 Robert Bosch Gmbh Verfahren zur stabilisierung eines fahrzeuggespanns
DE102009011907A1 (de) * 2009-03-05 2010-09-09 Bayerische Motoren Werke Aktiengesellschaft System und Verfahren zur Verarbeitung von Daten zur Stabiliesierung eines Gespanns
US8010253B2 (en) 2007-02-20 2011-08-30 Zf Lenksysteme Gmbh Method for stabilizing a vehicle combination
US8046147B2 (en) * 2005-11-22 2011-10-25 Continental Teves Ag & Co. Ohg Method and driving dynamics control system for stabilizing a car-trailer combination
WO2014090578A1 (de) * 2012-12-12 2014-06-19 Robert Bosch Gmbh Verfahren und vorrichtung zur stabilisierung eines aus einem zugfahrzeug und einem anhänger bestehenden fahrzeuggespanns
DE102014211061A1 (de) * 2014-06-11 2016-01-21 Continental Teves Ag & Co. Ohg Verfahren und Vorrichtung zur Regelung der Fahrstabilität eines Fahrzeuges
CN107521487A (zh) * 2016-06-21 2017-12-29 福特全球技术公司 用于减轻车辆摇摆的系统
DE102005028787B4 (de) * 2004-10-22 2018-02-22 Volkswagen Ag System zur Gespannstabilisierung
DE102016011282A1 (de) 2016-09-20 2018-03-22 Wabco Gmbh Verfahren zum Durchführen eines Ausweichmanövers mit einem Nutzfahrzeug-Gespann, sowie Notausweichsystem
CN112477861A (zh) * 2019-08-20 2021-03-12 北京图森智途科技有限公司 自动驾驶卡车的行驶控制方法、装置及自动驾驶卡车

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19964048A1 (de) * 1999-06-30 2001-01-04 Bosch Gmbh Robert Verfahren und Einrichtung zum Stabilisieren eines Straßenfahrzeugs
DE10034222A1 (de) * 2000-07-13 2002-01-31 Bosch Gmbh Robert Verfahren unf Vorrichtung zur Stabilisierung eines Straßenfahrzeuges

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19964048A1 (de) * 1999-06-30 2001-01-04 Bosch Gmbh Robert Verfahren und Einrichtung zum Stabilisieren eines Straßenfahrzeugs
DE10034222A1 (de) * 2000-07-13 2002-01-31 Bosch Gmbh Robert Verfahren unf Vorrichtung zur Stabilisierung eines Straßenfahrzeuges

Cited By (21)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102005028787B4 (de) * 2004-10-22 2018-02-22 Volkswagen Ag System zur Gespannstabilisierung
US8046147B2 (en) * 2005-11-22 2011-10-25 Continental Teves Ag & Co. Ohg Method and driving dynamics control system for stabilizing a car-trailer combination
DE102007008342B4 (de) * 2007-02-20 2016-09-01 Robert Bosch Automotive Steering Gmbh Verfahren zur Stabilisierung eines Fahrzeugverbundes
US8010253B2 (en) 2007-02-20 2011-08-30 Zf Lenksysteme Gmbh Method for stabilizing a vehicle combination
DE102007009834A1 (de) 2007-02-28 2008-09-04 Bayerische Motoren Werke Aktiengesellschaft Vorrichtung und Verfahren zur Stabilisierung eines Kraftfahrzeug-Gespanns
DE102007009834B4 (de) 2007-02-28 2019-06-13 Bayerische Motoren Werke Aktiengesellschaft Vorrichtung und Verfahren zur Stabilisierung eines Kraftfahrzeug-Gespanns
WO2009003802A1 (de) * 2007-06-29 2009-01-08 Robert Bosch Gmbh Verfahren zur stabilisierung eines fahrzeuggespanns
DE102009011907A1 (de) * 2009-03-05 2010-09-09 Bayerische Motoren Werke Aktiengesellschaft System und Verfahren zur Verarbeitung von Daten zur Stabiliesierung eines Gespanns
WO2014090578A1 (de) * 2012-12-12 2014-06-19 Robert Bosch Gmbh Verfahren und vorrichtung zur stabilisierung eines aus einem zugfahrzeug und einem anhänger bestehenden fahrzeuggespanns
JP2016502953A (ja) * 2012-12-12 2016-02-01 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Ｒｏｂｅｒｔ Ｂｏｓｃｈ Ｇｍｂｈ 牽引車両とトレーラとからなる連結車を安定させる方法および装置
US9493156B2 (en) 2012-12-12 2016-11-15 Robert Bosch Gmbh Method and device for stabilizing a vehicle combination made up of a tractor vehicle and a trailer
CN104955713B (zh) * 2012-12-12 2017-06-20 罗伯特·博世有限公司 用于稳定包括牵引车和拖挂车的牵引车组的方法和装置
US20150314782A1 (en) * 2012-12-12 2015-11-05 Nec Corporation Method and device for stabilizing a vehicle combination made up of a tractor vehicle and a trailer
CN104955713A (zh) * 2012-12-12 2015-09-30 罗伯特·博世有限公司 用于稳定包括牵引车和拖挂车的牵引车组的方法和装置
DE102014211061A1 (de) * 2014-06-11 2016-01-21 Continental Teves Ag & Co. Ohg Verfahren und Vorrichtung zur Regelung der Fahrstabilität eines Fahrzeuges
CN107521487A (zh) * 2016-06-21 2017-12-29 福特全球技术公司 用于减轻车辆摇摆的系统
CN107521487B (zh) * 2016-06-21 2022-04-29 福特全球技术公司 用于减轻车辆摇摆的系统
DE102016011282A1 (de) 2016-09-20 2018-03-22 Wabco Gmbh Verfahren zum Durchführen eines Ausweichmanövers mit einem Nutzfahrzeug-Gespann, sowie Notausweichsystem
WO2018054517A1 (de) 2016-09-20 2018-03-29 Wabco Gmbh Verfahren zum durchführen eines ausweichmanövers mit einem nutzfahrzeug-gespann, sowie notausweichsystem
US11407408B2 (en) 2016-09-20 2022-08-09 Zf Cv Systems Europe Bv Method for performing an evasive maneuver with a utility vehicle combination, and emergency evasion system
CN112477861A (zh) * 2019-08-20 2021-03-12 北京图森智途科技有限公司 自动驾驶卡车的行驶控制方法、装置及自动驾驶卡车

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OM8 Search report available as to paragraph 43 lit. 1 sentence 1 patent law
8141 Disposal/no request for examination