WO2009003802A1 - Procédé pour stabiliser un véhicule-remorque - Google Patents

Procédé pour stabiliser un véhicule-remorque Download PDF

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Publication number
WO2009003802A1
WO2009003802A1 PCT/EP2008/057248 EP2008057248W WO2009003802A1 WO 2009003802 A1 WO2009003802 A1 WO 2009003802A1 EP 2008057248 W EP2008057248 W EP 2008057248W WO 2009003802 A1 WO2009003802 A1 WO 2009003802A1
Authority
WO
WIPO (PCT)
Prior art keywords
wheel
drive torque
torque distribution
periodic
motor vehicle
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.)
Ceased
Application number
PCT/EP2008/057248
Other languages
German (de)
English (en)
Inventor
Stefan Hillenbrand
Hardy Haas
Manfred Gerdes
Ingo Stolpe
Wadim Napolskich
Martin Sackmann
Peter Ziegler
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of WO2009003802A1 publication Critical patent/WO2009003802A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

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
    • B60T8/17—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
    • B60T8/17555—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 driver or passenger comfort, e.g. soft intervention or pre-actuation strategies
    • 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
    • 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
    • B60T8/248—Trailer sway, e.g. for preventing jackknifing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D53/00—Tractor-trailer combinations; Road trains
    • B62D53/04—Tractor-trailer combinations; Road trains comprising a vehicle carrying an essential part of the other vehicle's load by having supporting means for the front or rear part of the other vehicle
    • B62D53/08—Fifth wheel traction couplings
    • B62D53/0871—Fifth wheel traction couplings with stabilising means, e.g. to prevent jack-knifing, pitching, rolling, buck jumping
    • 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

Definitions

  • DE 199 64 048 A1 discloses a method and a device for stabilizing a road vehicle, in particular a passenger car, with a trailer pulled by the road vehicle.
  • the road vehicle is monitored with respect to rolling movements and the road vehicle automatically detects a yawing moment when a rolling motion is detected by wheel-specific braking interventions, which is essentially in phase opposition to the rolling movement.
  • the invention relates to a method for stabilizing a vehicle or a vehicle combination, in particular a motor vehicle with a through the
  • the vehicle or trailer is monitored for roll movements and Upon detection of a rolling motion, the vehicle is automatically imprinted with a periodic or essentially periodic yawing moment, which is in antiphase or essentially in phase opposition to the rolling motion.
  • the essence of the invention is characterized in that the impression of the yawing moment occurs by applying a wheel-individual or asymmetrical drive-torque distribution to the driven wheels, in particular to the left and right wheels of at least one axle.
  • drive torque interventions by the driver are perceived to be much weaker and thus less disturbing.
  • the vibrations are damped at a very early stage, without the driver feels this annoying.
  • the advantage in this case is the gain in safety compared to the later onset of braking interventions and the comfort gain by the driver, since he will not or hardly perceive the interventions in general.
  • An advantageous embodiment of the invention is characterized in that the vehicle is a towing vehicle which is connected to at least one trailer.
  • the application of the invention to vehicle breakdown is advantageous because trailers may tend to roll during rapid travel ("trailer lurches").
  • An advantageous embodiment of the invention is characterized in that the rolling motion is detected by evaluating the output signals of a sensor contained in the towing vehicle.
  • the property is exploited that transmits a rolling movement of the trailer on the trailer hitch on the towing vehicle.
  • An advantageous embodiment of the invention is characterized in that the presence of a rolling motion is detected on the basis of the output signal of a yaw rate sensor.
  • a yaw rate sensor is present in many modern ones Vehicles already available as standard, as it belongs to the standard sensors of a vehicle dynamics control.
  • the output signals of other sensors that detect the transverse dynamics can also be used to detect roll movements.
  • a transverse acceleration sensor or a slip angle sensor can also be used to detect roll movements.
  • An advantageous embodiment of the invention is characterized in that a rolling motion is detected as present when the output signal of the yaw rate sensor has periodic signal components in a predetermined frequency range. It has been shown by experiments that a trailer rolling motion typically has a frequency in the range between 0.5 Hz and 1.5 Hz.
  • An advantageous embodiment of the invention is characterized in that the unysmmetric drive torque distribution on the left and right wheels of the same axis, in particular the rear axle of the towing vehicle, takes place.
  • An advantageous embodiment of the invention is characterized in that the application of the asymmetrical drive torque distribution to the individual wheels is carried out by wheel-individual control of the individual wheels associated couplings.
  • An advantageous embodiment of the invention is characterized in that for generating the asymmetrical drive torque distribution, the drive torques of the left and right wheels are respectively increased and decreased periodically, wherein between the applied to the left wheel periodic driving torque curve and the applied to the right wheel periodic driving torque curve a Phase shift of 180 degrees exists.
  • a periodic yaw moment profile acting on the vehicle is generated in a simple manner.
  • a driving situation-dependent drive torque distribution between the front and rear axles would be conceivable.
  • An advantageous embodiment of the invention is characterized in that in addition to the application of an asymmetrical drive torque distribution wheel-individual braking interventions are performed, the braking moments of the left and right wheels are each increased and decreased periodically, between the applied to the left wheel periodic Bremsmomen- tenverlauf and the periodic braking torque curve applied to the right wheel has a phase shift of 180 degrees.
  • the invention comprises a device comprising means which are designed to carry out the methods according to the preceding claims.
  • Fig. 1 shows the sequence of the method according to the invention
  • Pendulum oscillations of a trailer are reliably detected by the sensors located in the towing vehicle of the vehicle dynamics control system only at higher amplitude. Since braking operations used for stabilization are perceived by the driver to be comfort-reducing, they are only permitted when a trailer's pendulum is reliably recognized.
  • the core of the invention when occurring pendulum vibrations of a car trailer team very early, i. already before the onset of active
  • Brake interventions to stabilize give light yaw moments to the towing vehicle through an asymmetrical drive torque distribution using active powertrain components.
  • active powertrain components for example, the individual wheels associated couplings can be used.
  • the advantage in this case is the gain in safety compared to the later onset of braking interventions and the comfort gain by the driver, since he will not or hardly perceive the interventions in general.
  • the motor vehicle automatically detects a periodic or block in block 102 upon detection imprinted significant periodic yawing moment, which is the antiphase phase or essentially antiphase of the rolling motion. This is done by applying an asymmetrical drive torque distribution to the left and right wheels of at least one axis.
  • the inventive method ends.
  • Fig. 2 1 denotes the tractor and 2 the trailer, which with a
  • RVR right front wheel
  • RvL left front wheel
  • RHR right rear wheel
  • RHL left rear wheel

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Regulating Braking Force (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

L'invention concerne un procédé pour stabiliser un véhicule, avec lequel le véhicule est contrôlé en termes de mouvements de roulis (101) et un couple de lacet sensiblement périodique est imprimé automatiquement au véhicule en cas de détection d'un mouvement de roulis, le couple de lacet (102) étant sensiblement en opposition de phase avec le mouvement de roulis. L'invention est caractérisée en ce que le couple de lacet est appliqué en exerçant une distribution de couple d'entraînement asymétrique sur la roue gauche et la roue droite d'au moins un essieu.
PCT/EP2008/057248 2007-06-29 2008-06-11 Procédé pour stabiliser un véhicule-remorque Ceased WO2009003802A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE200710030222 DE102007030222A1 (de) 2007-06-29 2007-06-29 Verfahren zur Stabilisierung eines Fahrzeuggespanns
DE102007030222.5 2007-06-29

Publications (1)

Publication Number Publication Date
WO2009003802A1 true WO2009003802A1 (fr) 2009-01-08

Family

ID=39689056

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2008/057248 Ceased WO2009003802A1 (fr) 2007-06-29 2008-06-11 Procédé pour stabiliser un véhicule-remorque

Country Status (2)

Country Link
DE (1) DE102007030222A1 (fr)
WO (1) WO2009003802A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012222993A1 (de) * 2012-12-12 2014-06-12 Continental Teves Ag & Co. Ohg Verfahren zum Stabilisieren eines Gespanns

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010034011B4 (de) * 2010-08-11 2016-09-15 Audi Ag Vorrichtung und Verfahren zur Fahrstabilisierung eines Fahrzeuggespanns
DE102024200154A1 (de) * 2024-01-08 2025-07-10 Volkswagen Aktiengesellschaft Verfahren zur Überprüfung des Funktionszustands einer an einem Zugfahrzeug angekoppelten Transportvorrichtung

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5079708A (en) * 1989-03-24 1992-01-07 Brown Jack L Road vehicle cornering assistance mechanism
DE19964048A1 (de) * 1999-06-30 2001-01-04 Bosch Gmbh Robert Verfahren und Einrichtung zum Stabilisieren eines Straßenfahrzeugs
DE10342865A1 (de) * 2003-09-15 2005-04-21 Bayerische Motoren Werke Ag Verfahren zum Stabilisieren eines Kraftfahrzeug-Gespanns
DE102004035039A1 (de) * 2003-12-20 2005-07-21 Daimlerchrysler Ag Verfahren und System zur Regelung der Fahrdynamik eines Fahrzeugs bei erhöhter Lasteinwirkung
US20050209763A1 (en) * 2004-03-18 2005-09-22 Ford Global Technologies, Llc Method and apparatus for controlling brake-steer in an automotive vehicle in reverse
EP1801003A2 (fr) * 2005-12-22 2007-06-27 Knott GmbH Dispositif d'assistance au déplacement d'une remorque de véhicule

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5079708A (en) * 1989-03-24 1992-01-07 Brown Jack L Road vehicle cornering assistance mechanism
DE19964048A1 (de) * 1999-06-30 2001-01-04 Bosch Gmbh Robert Verfahren und Einrichtung zum Stabilisieren eines Straßenfahrzeugs
DE10342865A1 (de) * 2003-09-15 2005-04-21 Bayerische Motoren Werke Ag Verfahren zum Stabilisieren eines Kraftfahrzeug-Gespanns
DE102004035039A1 (de) * 2003-12-20 2005-07-21 Daimlerchrysler Ag Verfahren und System zur Regelung der Fahrdynamik eines Fahrzeugs bei erhöhter Lasteinwirkung
US20050209763A1 (en) * 2004-03-18 2005-09-22 Ford Global Technologies, Llc Method and apparatus for controlling brake-steer in an automotive vehicle in reverse
EP1801003A2 (fr) * 2005-12-22 2007-06-27 Knott GmbH Dispositif d'assistance au déplacement d'une remorque de véhicule

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012222993A1 (de) * 2012-12-12 2014-06-12 Continental Teves Ag & Co. Ohg Verfahren zum Stabilisieren eines Gespanns

Also Published As

Publication number Publication date
DE102007030222A1 (de) 2009-01-08

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