Method for operating an electronic brake system

• US 10,391,986 B2
• Filed: 05/22/2015
• Issued: 08/27/2019
• Est. Priority Date: 06/11/2014
• Status: Active Grant

• Current Assignee: ZF CV Systems Europe BV
• Original Assignee: Wabco GmbH (Wabco Holdings Incorporated)
• Inventors: Czaja, Daniel, Stender, Axel, Treichel, Thomas, Wolf, Markus
• Primary Examiner(s): Butler, Rodney A
• Application Number:
  US15/317,943
• Publication Number:
  US 20170106841A1
• Time in Patent Office: 1,558 Days
• CPC Class Codes: B60T 2201/16 Curve braking control, e.g. turn control within ABS control algorithm
• CPC Class Codes: B60T 2240/04 Tire deformation
• CPC Class Codes: B60T 2240/06 Wheel load; Wheel lift
• CPC Class Codes: B60T 2250/06 Sensor zero-point adjustment; Offset compensation
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence
• CPC Class Codes: B60T 8/17551 determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
• CPC Class Codes: B60W 2040/1315 Location of the centre of gravity

Abstract

A method for operating an electronic brake system in a vehicle having at least two tires on an axle, wherein the vehicle has a center of gravity (SP) with a height (hSP), is disclosed. According to the method, the height (hSP) of the center of gravity (SP) is calculated and used as a parameter by the electronic brake system. An electronic control unit, an electronic brake system, and a vehicle including the same for carrying out the method are also disclosed.

Claims

1. A method for operating an electronic brake system in a vehicle having at least two tires on one axle, wherein the vehicle has a center of gravity (SP) with a height (h_SP), said method comprising:

providing a transverse acceleration sensor adapted to measure a transverse acceleration (a_SP) of the vehicle;

iteratively calculating the height (h_SP) of the center of gravity (SP) as a parameter by the electronic brake system to determine whether a critical driving state is present, wherein iteratively calculating the height (h_SP) of the center of gravity (SP) is performed by an electronic control unit and includes;

estimating the height of the center of gravity of the vehicle, calculating a transverse acceleration based on the estimated height of the center of gravity of the vehicle, and comparing the calculated transverse acceleration with the measured transverse acceleration (a_SP) from the transverse acceleration sensor, wherein, if the calculated transverse acceleration does not approximately correspond to the measured transverse acceleration (a_SP), repeating the iterative calculation by estimating a different height of the center of gravity of the vehicle; and

operating a brake control unit of the vehicle while the vehicle is cornering based on the iteratively calculated height (h_SP) of the center of gravity (SP) of the vehicle to prevent the vehicle from overturning.

2. The method as claimed in claim 1, wherein the height (h_SP) of the center of gravity (SP) is further determined as a function of a difference between wheel speeds at a wheel on an inside of a bend and a wheel on an outside of the bend when cornering.

3. The method as claimed in claim 1, wherein the height (h_SP) of the center of gravity (SP) is iteratively calculated as a function of track width (s) and axle load (m).

4. The method as claimed in claim 1, wherein the height (h_SP) of the center of gravity (SP) is further determined as a function of data from sensors for monitoring the state of the tires.

5. The method as claimed in claim 1, wherein the calculation of the height (h_SP) of the center of gravity (SP) is further carried out as a function of measured values occurring during straight-ahead travel of the vehicle using a systematic error or a constant offset of the calculation is determined in advance.

6. The method as claimed in claim 5, wherein in the case of straight-ahead travel of the vehicle the systematic error or the constant offset of the calculation is determined in advance by defining a reference signal as zero or other known value.

7. An electronic control unit for a vehicle having a transverse acceleration sensor and a center of gravity (SP) with a height (h_SP), the electronic control unit being adapted to perform the following method steps:

iteratively calculate a height (h_SP) of the center of gravity (SP) to determine whether a critical driving state is present by estimating the height (h_SP) of the center of gravity (SP), calculating a transverse acceleration based on the estimated height of the center of gravity (SP) and comparing the calculated transverse acceleration with a measured transverse acceleration (a_SP) from the transverse acceleration sensor, wherein, if the calculated transverse acceleration does not approximately correspond to the measured transverse acceleration (a_SP), repeating the iterative calculation by estimating a different height (h_SP) of the center of gravity (SP); and

cause operation of a brake control unit of the vehicle while the vehicle is cornering based on the iteratively calculated height (h_SP) of the center of gravity (SP) of the vehicle to prevent the vehicle from overturning.

8. A vehicle having a center of gravity (SP) with a height (h_SP), the vehicle comprising:

at least two tires on one axle;

a transverse acceleration sensor to measure a transverse acceleration (a_SP) of the vehicle;

an electronic control unit adapted to perform the following method steps;

iteratively calculate the height (h_SP) of the center of gravity (SP) to determine whether a critical driving state is present, wherein iteratively calculating the height (h_SP) of the center of gravity (SP) includes;

estimating the height (h_SP) of the center of gravity of the vehicle (SP), calculating a transverse acceleration based on the estimated height of the center of gravity (SP) and comparing the calculated transverse acceleration with a measured transverse acceleration (a_sp) from the transverse acceleration sensor, wherein, if the calculated transverse acceleration does not approximately correspond to the measured transverse acceleration (a_SP), repeating the iterative calculation by estimating a different height (h_SP) of the center of gravity (SP); and

operate a brake control unit of the vehicle while the vehicle is cornering based on the iteratively calculated height (h_SP) of the center of gravity (SP) of the vehicle to prevent the vehicle from overturning.