Apparatus and method for determining vehicle operating and dynamic parameters

• US 20020013651A1
• Filed: 04/17/2001
• Published: 01/31/2002
• Est. Priority Date: 04/17/2000
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Weiberle, Reinhard, Schanzenbach, Matthias
• Granted Patent: US 6,374,171 B2
• Time in Patent Office: Days
• US Class Current: 701/71
• CPC Class Codes: B60G 17/018 characterised by the use of a specific signal treatment or control method
• CPC Class Codes: B60G 17/0195 characterised by the regulation being combined with other vehicle control systems conjoint control of vehicle sub-units including control of suspension systems B60W10/22
• CPC Class Codes: B60G 2400/0511 Roll angle
• CPC Class Codes: B60G 2400/0512 Pitch angle
• CPC Class Codes: B60G 2400/102 vertical
• CPC Class Codes: B60G 2400/104 lateral or transversal with regard to vehicle
• CPC Class Codes: B60G 2400/106 longitudinal with regard to vehicle, e.g. braking
• CPC Class Codes: B60G 2400/204 Vehicle speed
• CPC Class Codes: B60G 2400/208 of wheel rotation
• CPC Class Codes: B60G 2400/252 vertical
• CPC Class Codes: B60G 2400/61 Load distribution
• CPC Class Codes: B60G 2400/63 Location of the center of gravity
• CPC Class Codes: B60G 2400/822 Road friction coefficient determination affecting wheel traction
• CPC Class Codes: B60G 2800/0192 longitudinal with regard to vehicle
• CPC Class Codes: B60G 2800/21 Traction, slip, skid or slide control
• CPC Class Codes: B60G 2800/215 by applying a braking action on each wheel individually
• CPC Class Codes: B60G 2800/22 Braking, stopping
• CPC Class Codes: B60G 2800/70 Estimating or calculating vehicle parameters or state variables
• CPC Class Codes: B60G 2800/92 ABS - Brake Control
• CPC Class Codes: B60G 2800/93 Skid or slide control [ASR]
• 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

Abstract

The invention describes an apparatus and method for determining at least one wheel slip of a vehicle and at least one of a pitch angle, a road angle, a roll angle for use in at least one vehicle control system. The method and apparatus are characterized in that at least three deflection displacements are determined, and then at least one wheel slip of the vehicle and at least one of the pitch angle, the road angle, the roll angle of the vehicle are determined based on the at least three deflection displacements. The wheel slip(s) of the vehicle and at least one of the pitch angle, the road angle, and the roll angle of the vehicle may be provided or otherwise made available to the at least one vehicle control system.

Claims

1. An apparatus for determining at least one wheel slip (s) of a vehicle (10) and at least one of a pitch angle (Φ

), a road angle and a roll angle (χ

) of the vehicle for use in at least one vehicle control system (1), characterized in that the apparatus includes;

at least three deflection displacement sensing devices that are adapted for sensing a first parameter that corresponds to a first deflection displacement, a second parameter that corresponds to a second deflection displacement, and at least a third parameter that corresponds to a third deflection displacement; and

a processor (P_B) for determining the at least one wheel slip (s) of the vehicle and the at least one of the pitch angle, the road angle and the roll angle based on the first deflection displacement, the second deflection displacement, and the third deflection displacement.

2. The apparatus as defined in claim 1, characterized in that the at least one vehicle control system (1) is at least one of an active-handling control system, an anti-lock brake control system, an acceleration control system, a deceleration control system, a drive-train control system, a roll-stability control system, a traction control system, a vehicle stability control system and a vehicle dynamics control system.

3. The apparatus as defined in claim 1 or 2, characterized in that the at least one vehicle control system (1) includes an anti-lock brake control system that controls a brake system based on at least one of a vehicle velocity (ν

_fzg) and the at least one wheel slip (s), and further characterized in that the processor (P_B) determines the at least one wheel slip (s) and determines a vehicle velocity (84 _fzg) based on the at least one wheel slip (s).

4. The apparatus as defined in claim 1, 2, or 3, characterized in that the apparatus includes a sensing device that is adapted to sense a first parameter that corresponds to a transverse acceleration of the vehicle (10), and further characterized in that the processor determines the at least one wheel slip (s) of the vehicle (10) and the at least one of the pitch angle (Φ

), the road angle and the roll angle (χ

) based on the transverse acceleration.

5. The apparatus as defined in claim 4, characterized in that the sensing device is a transverse acceleration sensor.

6. The apparatus as defined in claim 1, 2, 3, 4, or 5, characterized in that the at least one vehicle control system (1) includes a deceleration control system, having a braking characteristic curve, that controls a brake system based on at least one of the braking characteristic curve and an unbraked wheel acceleration, and further characterized in that the processor (P_B) determines an unbraked wheel acceleration during a braking operation, and adds the unbraked wheel acceleration as an offset to the braking characteristic curve.

7. The apparatus as defined in claim 6, characterized in that the processor (P_B) determines the road angle and determines the unbraked wheel acceleration based on at least a vehicle velocity (ν

_fzg) and the road angle.

8. The apparatus as defined in claim 7, characterized in that the processor (P_B) determines the vehicle velocity (ν

_fzg) based on the at least one wheel slip,(s).

9. The apparatus as defined in claim 1, 2, 3, 4, 5, 6, 7, or 8, characterized in that the processor provides the at least one wheel slip (s) of the vehicle (10) and the at least one of the pitch angle (Φ

), the road angle, and the roll angle (χ

) of the vehicle (10) to the at least one vehicle control system (1).

14. The apparatus as defined in one of the foregoing claims, characterized in that the processor (P_B) determines at least one wheel normal force and a vehicle mass (m) based on the at least one wheel normal force.

10. An apparatus for determining at least one wheel slip (s) of a vehicle (10) and at least one of a pitch angle (Φ

), a road angle and a roll angle (χ

) of the vehicle (10) for use in at least one vehicle control system(1), including a deceleration control system, which has a braking characteristic curve, that controls a brake system based on at least one of the braking characteristic curve and an unbraked wheel acceleration, characterized in that the apparatus includes;

means for sensing a first parameter that corresponds to a first deflection displacement, a second parameter that corresponds to a second deflection displacement, and at least a third parameter that corresponds to at least a third deflection displacement;

means for determining the at least one wheel slip (s) based on at least one of first deflection displacement, the second deflection displacement, and the third deflection displacement;

means for determining the at least one wheel slip (s) based on at least one of first deflection displacement, the second deflection displacement, and the third deflection displacement;

means for determining the road angle and at least one of the pitch angle and the roll angle (χ

) based on at least one of first deflection displacement, the second deflection displacement, and the third deflection displacement; and

means for determining an unbraked wheel acceleration during a braking operation and adding the unbraked wheel acceleration as an offset to the braking characteristic curve.

11. The apparatus as defined in claim 10, characterized in that the apparatus includes means for providing the at least one wheel slip (s) of the vehicle (10) and the at least one of the pitch angle (Φ

), the road angle, and the roll angle of the vehicle (10) to the at least one vehicle control system.

12. The apparatus as defined in claim 10 or 11, characterized in that the means for determining the unbraked wheel acceleration determines the unbraked wheel acceleration based on at least a vehicle velocity (ν

_fxg) and the road angle.

13. The apparatus as defined in claim 12, characterized in that the apparatus includes means for determining the vehicle velocity (ν

_fzg) based on the at least one wheel slip (s).

21. The method as defined in claim 10, characterized in that the method includes the step of providing the at least one wheel slip (s) of a vehicle (10) and the at least one of the pitch angle (Φ

), the road angle, and the roll angle (χ

) of the vehicle (10) to the at least one vehicle control system.

15. A method for determining at least one wheel slip (s) of a vehicle (10) and at least one of a pitch angle(Φ

), a road angle and a roll angle (χ

) for use in at least one vehicle control system (1), characterized in that the method includes the steps of;

determining a first deflection displacement;

determining a second deflection displacement;

determining a third deflection displacement; and

determining the at least one wheel slip (s) of the vehicle (10) and the at least one of the pitch angle (Φ

), the road angle and the roll angle (χ

) based on the first deflection displacement, the second deflection displacement, and the third deflection displacement.

16. The method as defined in claim 15, characterized in that the at least one vehicle control system (1) is at least one of an active-handling control system, an anti-lock brake control system, an acceleration control system, a deceleration control system, a drive-train control system, a roll-stability control system, a traction control system, a vehicle stability control system and a vehicle dynamics control system.

17. The method as defined in claim 15 or 16, characterized in that the at least one vehicle control system (1) includes an anti-lock brake control system that controls a brake system based on at least one of a vehicle velocity (ν

_fzg) and the at least one wheel slip (s), and further characterized in that the method includes the steps of;

determining the at least one wheel slip (s); and

determining a vehicle velocity (ν

_fzg) based on the at least one wheel slip (s).

18. The method as defined in claim 15, 16, or 17, characterized in that the at least one vehicle control system (1) includes a deceleration control system, having a braking characteristic curve, that controls a brake system based on at least one of the braking characteristic curve and an unbraked wheel acceleration, and further characterized in that the method includes the steps of:

determining an unbraked wheel acceleration during a braking operation; and

adding the unbraked wheel acceleration as an offset to the braking characteristic curve.

19. The method as defined in claim 18, characterized in that the method includes the steps of:

determining the road angle; and

determining the unbraked wheel acceleration based on at least a vehicle velocity (ν

_fzg) and the road angle.

20. The method as defined in claim 19, characterized in that the method includes the step of determining the vehicle velocity (ν

_fzg) based on the at least one wheel slip (s).

22. The method as defined in claim 15, 16, 17, 18, 19, 20, or 21, characterized in that the method includes the steps of:

determining at least one wheel normal force; and

determining a vehicle mass (m) based on the at least one wheel normal force.