Method and Driving Dynamics Control System for Stabilizing a Car-Trailer Combination
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Abstract
When swaying motions of a trailer or semi-trailer of a car-trailer combination are encountered, input signals which are taken into consideration to calculate a reference signal frequently include also oscillation components, due to which driving dynamics control for stabilization of the car-trailer combination can become very unreliable. To enhance the reliability of driving dynamics control of this type, a method is disclosed in which an input signal (Y) is sensed that includes signal oscillations which are due to a swaying motion of the trailer or semi-trailer and are superimposed on a base component (YBasis) of the input signal (Y). A reference signal is calculated from the input signal (Y), in which case the calculation is executed in such a way that the reference signal by approximation corresponds to a reference signal which is determined from the base component (YBasis) of the input signal (Y). A correcting variable for influencing the driving behavior of the towing vehicle of the car-trailer combination is then determined depending on a deviation between the reference signal and a detected actual signal. Furthermore, the invention discloses a driving dynamics control system which is appropriate to implement the method.
87 Citations
31 Claims
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1-16. -16. (canceled)
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17. A method for stabilizing a car-trailer combination consisting of a towing vehicle and a trailer or semi-trailer comprising the following steps:
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detecting an input signal (Y;
δ
H;
{dot over (ψ
)}meas) with signal oscillations due to a swaying motion of the trailer or semi-trailer, the input signal (Y;
δ
H;
{dot over (ψ
)}meas) having a base component (YBasis;
{dot over (ψ
)}Basis) superimposed by the signal oscillations,determining a reference signal ({dot over (ψ
)}ref,corr) correlating with an intermediate signal determined from the base component (YBasis;
{dot over (ψ
)}Basis) of the input signal (Y;
δ
H;
{dot over (ψ
)}meas),determining a correcting variable (Δ
δ
;
Δ
M) depending on a deviation (Δ
{dot over (ψ
)}Trailer) between the reference signal ({dot over (ψ
)}ref,corr) and a detected signal ({dot over (ψ
)}meas), andinfluencing the driving condition of the towing vehicle according to the determined correcting variable (Δ
δ
;
Δ
M). - View Dependent Claims (18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30)
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31. A driving dynamics control system for stabilizing a car-trailer combination consisting of a towing vehicle and a trailer or a semi-trailer, comprising:
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a sensor detecting an input signal (Y;
δ
H;
{dot over (ψ
)}meas) with signal oscillations due to a swaying motion of the trailer or semi-trailer, the input signal (Y;
δ
H;
{dot over (ψ
)}meas) having a base component (YBasis;
{dot over (ψ
)}Basis) superimposed by the signal oscillations,a calculating device (104;
501) determining a reference signal ({dot over (ψ
)}ref,corr) correlating with an intermediate signal determined from the base component (YBasis;
{dot over (ψ
)}Basis) of the input signal (Y;
δ
H;
{dot over (ψ
)}meas),a controlling device (102) determining a correcting variable (Δ
δ
;
Δ
M) depending on a deviation (Δ
{dot over (ψ
)}Trailer) between the reference signal ({dot over (ψ
)}ref,corr) and a detected signal ({dot over (ψ
)}meas), andan actuator influencing the driving condition of the towing vehicle according to the determined correcting variable (Δ
δ
;
Δ
M).
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Specification