System and method for monitoring the vehicle dynamics of a motor vehicle

• US 20030149515A1
• Filed: 12/19/2002
• Published: 08/07/2003
• Est. Priority Date: 12/30/2000
• Status: Abandoned Application

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Brachert, Jost, Polzin, Norbert, Wandel, Helmut, Hessmert, Ulrich
• Application Number:
  US10/220,384
• Publication Number:
  US 20030149515A1
• Time in Patent Office: Days
• US Class Current: 701/29
• CPC Class Codes: B60T 2270/313 with less than three sensors (yaw rate, steering angle, lateral acceleration)
• 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: B60T 8/1764 Regulation during travel on surface with different coefficients of friction, e.g. between left and right sides, mu-split or between front and rear

Abstract

A system of monitoring the handling properties of a motor vehicle having at least two wheels (12) includes at least one wheel-force sensor device (10) associated with a wheel (12), which detects at least one wheel-force component of the respective wheel (12) acting essentially between the driving surface and the tire contact area, outputs a signal (Si, Sa) representing the wheel-force component, and includes an evaluation device (14) which processes the signal (Si, Sa) representing the wheel-force component of the wheel (12). The evaluation device (14) determines a yaw moment of the vehicle according to the result of the processing. A corresponding method is also described.

Claims

1. A system for monitoring the handling properties of a motor vehicle having at least two wheels (12), comprising:

at least one wheel-force sensor device (10) associated with a wheel (12), which device detects at least one wheel-force component of the respective wheel (12) acting essentially between the driving surface and the tire contact area and outputs a signal (Si, Sa) representing the wheel-force component; and

an evaluation device (14) which processes the signal (Si, Sa) representing the wheel-force component of the wheel (12),

wherein the evaluation device (14) determines a yaw moment of the vehicle on the basis of the processing result.

2. The system as recited in claim 1, wherein a wheel-force sensor device (10) is associated with each wheel (12) of the vehicle.

3. The system as recited in claim 1 or 2, wherein the wheel-force component acting essentially between the driving surface and the tire contact area is a circumferential wheel-force or a transverse wheel-force, preferably a circumferential wheel-force and a transverse wheel-force, particularly preferably a circumferential wheel-force, a transverse wheel-force, and a tire contact force.

4. The system as recited in one of the preceding claims, wherein it includes a memory device (15) for storing the detected yaw moments.

5. The system as recited in one of the preceding claims, wherein

the evaluation device (14) outputs a control signal according to the detected yaw moment, and

the system also includes a control device (16) that influences an operating condition of the motor vehicle according to the control signal.

6. The system as recited in one of the preceding claims, wherein the control device (16) modifies the engine power and/or a wheel braking pressure of at least one wheel (12) according to the control signal from the evaluation device (14).

7. The system as recited in one of the preceding claims, wherein the evaluation device (14) and/or the control device (16) is or are associated with a device for controlling and/or regulating the handling properties of a motor vehicle, such as for example an Antilock Brake System, a Traction Control System, or an ESP system.

8. The system as recited in one of the preceding claims, wherein the device for controlling and/or regulating the handling properties of a motor vehicle, in particular an Antilock Brake System, a Traction Control System, or an ESP system, includes a yaw moment regulating circuit that compares the yaw moment determined to a target yaw moment, and as a function of the comparison determines target wheel-forces which are to be exerted on at least one wheel (12) by the control device (16).

9. The system as recited in one of the preceding claims, wherein the yaw moment regulating circuit in an antilock brake system is a yaw moment reduction or yaw moment buildup delay circuit (74).

10. The system as recited in one of the preceding claims, wherein the sensor device (10) is a tire sensor device (20, 22, 24, 26, 28, 30).

11. The system as recited in one of the preceding claims, wherein the sensor device (10) is a wheel bearing sensor device.

12. A system for controlling and/or regulating the handling properties of a motor vehicle having at least one tire and/or one wheel (12), a force sensor (20, 22) being positioned in the tire and/or on the wheel (12), in particular on the wheel bearing, and a yaw moment variable representing the current yaw moment being determined as a function of the output signals from the force sensor (20, 22), this yaw moment variable being used for controlling and/or regulating the handling properties.

13. A method of monitoring the handling properties of a motor vehicle having at least two wheels (12), comprising the following steps:

detection of at least one wheel-force component of the particular wheel operating essentially between the driving surface and the tire contact area (S01, S02), and

processing of the detected wheel-force component of the wheel (S03, S04),

wherein the method also comprises the following step;

determination of a yaw moment of the vehicle according to the result of the processing (S05).

14. The method as recited in claim 13, wherein at each wheel (12) of the vehicle at least one wheel-force component acting between the driving surface and the tire contact area is detected.

15. The method as recited in claim 13 or 14, wherein a circumferential wheel-force or a transverse wheel-force, preferably a circumferential wheel-force and a transverse wheel-force, particularly preferably a circumferential wheel-force and a transverse wheel-force and a tire contact force are detected as the wheel-force component acting essentially between the driving surface and the tire contact area (S02).

16. The method as recited in one of claims 13 through 15, wherein the calculated yaw moment is stored in a memory device (15).

17. The method as recited in one of claims 13 through 16, wherein the following step is included:

influencing an operating condition of the motor vehicle according to the calculated yaw moment (S07, S08).

18. The method as recited in one of claims 13 through 17, wherein the step of influencing the operating condition of the motor vehicle includes a change in the engine power and/or in the wheel braking pressure of at least one wheel (12).

19. The method as recited in one of claims 13 through 18, wherein the influencing of the operating condition of the motor vehicle is carried out by a device for controlling and/or regulating the handling properties of a motor vehicle, such as an Antilock Brake System, a Traction Control System, or an ESP system.

20. The method as recited in one of claims 13 through 19, wherein the following steps are included:

comparing the calculated yaw moment to a target yaw moment (S06), and

determining target wheel-forces which are to be exerted on at least one wheel, as a function of the result of the comparison (S07).

21. The method as recited in one of claims 13 through 21, wherein the at least one wheel-force component acting essentially between the driving surface and the tire contact area is detected at a wheel, in particular on a tire of the wheel (12).

22. The method as recited in one of claims 13 through 22, wherein the at least one wheel-force component acting essentially between the driving surface and the tire contact area is detected at a wheel bearing.