Speed control system for motor vehicles operating in a curved path

• US 4,809,183 A
• Filed: 02/25/1987
• Issued: 02/28/1989
• Est. Priority Date: 03/01/1986
• Status: Expired due to Fees

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Eckert, Konrad
• Primary Examiner(s): Chin, Gary
• Application Number:
  US07/018,622
• Time in Patent Office: 734 Days
• Field of Search: 364/426, 364/431.07, 364/424, 180/170-172, 180/197, 180/282, 303/96, 303/111, 303/95, 303/105, 303/99, 280/707, 280/772
• US Class Current: 701/93
• CPC Class Codes: B60K 31/0075 responsive to vehicle steering angle
• CPC Class Codes: B60K 31/0083 responsive to centrifugal force acting on vehicle due to the path it is following

Abstract

To prevent slip-out or slide-out of a vehicle operating in a curve, the lateral stability or, respectively, instability of the vehicle is determined and, if instability or incipient instability is sensed, the vehicle is automatically braked, and/or engine torque of the vehicle engine is reduced. A reference parameter K, which may be variable in accordance with vehicle operating and operation conditions, is compared with a quotient of change of lateral forces applied to the front (V) and hind or rear (H) axles with respect to the change of the slip angle (δ_V, δ_H), and if the change of lateral force (Δ_S /Δ.sub.δ) at the respective axles, and passes the reference K. The respective axles can then be together or selectively braked in accordance with the extent of deviation from said comparison reference K and/or engine torque also reduced.

Claims

1. Speed control system for a motor vehicle, to control the speed of operation of the vehicle when the vehicle operates in a curved path, comprising

lateral force sensing means (1d, 1e) secured to the vehicle for sensing lateral forces (S_V, S_H) and deriving sensed lateral force signals;

means receiving said lateral force signals for determining change in lateral forces (Δ

S_V, Δ

S_H) with respect to time and deriving lateral force change signals;

means (1a, 1b, 1c) for determining the slip angle (δ

_V, δ

_H) of the vehicle, as the vehicle operates in the path which is curved and deriving a slip angle signal;

means coupled to said slip angle determination means (1a, 1b, 1c) for determining the change of the slip angle and deriving a slip angle change signal;

quotient deriving means (7) coupled to said change in lateral force sensing means and said slip angle change signal deriving means, and receiving said lateral force change signals and said slip angle change signals (Δ

S_V /Δ

δ

_V ;

Δ

S_H /Δ

δ

_H) for at least one of said front and rear wheels, respectively;

to obtain a quotient signal representative of the quotient of the lateral force change signals and said slip angle change signals;

comparator means (8) coupled to said quotient deriving means (7) receiving said quotient signal and comparing said quotient signal with a predetermined reference value (K) and deriving a comparison output signal; and

means (12, 2,

     4) responsive to said comparison output signal for controlling the speed of the vehicle if the comparison output signal derived from said comparator means (8) is indicative that said quotient has passed the predetermined reference value.

2. The system of claim 1, wherein said means (12, 2) for controlling the speed of the vehicle comprises means (2;

ABS) for braking the vehicle.

3. The system of claim 1, wherein said means (12, 4) for controlling the speed of the vehicle comprises means (4) for controlling a vehicle engine to reduce torque output of the engine.

4. The system of claim 1, wherein said means (12, 2, 4) for controlling the speed of the vehicle comprises means (2;

ABS) for braking the vehicle; and

means (4) for controlling a vehicle engine to reduce torque output of the engine.

5. The system of claim 1, wherein said predetermined reference value (K) comprises a variable reference value.

6. The system of claim 5, wherein said predetermined reference value comprises a value dependent on vehicle operation or operating conditions.

7. The system of claim 3, wherein said means (12, 4) for controlling the speed of the vehicle comprises means (4) for controlling a vehicle engine to reduce torque output of the engine as said means for controlling the speed of of the vehicle.

8. The system of claim 2, wherein the quotient deriving means (7) derive quotient signals representative of the quotient of the lateral force angle signals and the slip angle signals with respect to both the forward and rear or hind axles of the vehicle;

and wherein said brake means apply braking effort to the wheels of the respective forward and rear axles as a function of the magnitude by which the quotient determined for the respective axle passes said predetermined reference value (K).

9. The system of claim 8, wherein said brake means apply braking effort only to wheels of the axle at which the quotient does not pass the reference value (K).

10. The system of claim 8, wherein said brake means apply braking effort to the wheels of both the forward and the rear or hind axle;

and

wherein the braking effort applied to the wheels of the axle at which one of said quotients has passed the reference value is braked less than the wheels at which the other quotient has not passed said reference value (K).

11. The system of claim 10, wherein the degree of braking effort applied by said brake means is related to the magnitude by which said other quotient passes said reference value;

and

wherein the wheels of the axle in which said reference value is passed by a greater extent are braked less and the wheels on which said reference value is passed by a lesser extent have a higher braking effort applied.

12. The system of claim 1, wherein the means (12, 2, 4) for controlling the speed of the vehicle includes an anti-brake lock system (ABS, 2).

13. The system of claim 1, including means (1f, 1g) for sensing axle loading of the forward and rear or hind axles and providing axle load signals;

wherein said lateral force sensing means includes means (1d, 1e) for sensing transverse acceleration (b_V, b_H) at the forward and rear or hind axles and deriving transverse acceleration signals;

calculating means (6,

     7) are provided, responsive to said axle load signals, derived from said axle load sensing means and further responsive to said transverse acceleration signals, derived from said transverse acceleration sensing means, and

said calculating means calculating lateral forces (S_x, S_y) based on said transverse acceleration and axle load signals.

14. The system of claim 1, further including means (1a) for measuring the deflection angle (β

) of the steered wheels, and means (1c) for sensing the turning angle (α

) about a vertical axis of the vehicle, and for determining the angle of the car track vector (α

_B), each said deflection angle measuring means and turning angle sensing means providing an output signal;

and wherein said means for determining said angle of slip comprise calculating means (6,

     7) coupled to said deflection angle measuring means and the turning angle sensing means, and calculating the slip angle (δ

_V, δ

_H) as a function of said output signals of said deflection angle measuring means and said turning angle sensing means.

15. The system of claim 14, wherein said means (1c) for sensing the slip angle comprises means for sensing turning speed (dα

/dt) and means (6) for integrating said turning speed for a predetermined time interval.

16. The system of claim 14, further comprises a means for determining the angle of the track car vector (α

_B) based on ##EQU12## wherein V_F is vehicle speed,

l_A is the wheel base of the vehicle, and

β

is the angle of deflection of the forward or steered wheel with respect to the vehicle axis.

17. The system of claim 1, wherein said means for determining the change of the angle of lateral slip (Δ

δ

_V,Δ

δ

_H) includes means (1a) for sensing the change of the deflection angle (Δ

β

) of the steered wheels and means for determining the changes of the rotation angle (Δ

α

) of the vehicle about a vertical axis, and a track angle (Δ

α

β

), in which the vehicle operates with respect to sequential measuring instants (t₁, t₂), said sequential measuring instants following each other by predetermined measuring intervals.

18. The system of claim 17, wherein means (1c) are provided for sensing the turning speed (dα

/dt) at a first instant of time (t₁) and subsequently measuring the turning speed dα

/dt.sub.(t.sbsb.1_+T), and wherein the change of said rotation angle (Δ

α

) is derived by sensing the deviation between the first and subsequently measured turning speed, to thereby determine said change of said rotation angle.

19. The system of claim 17, wherein said change of curve angle (Δ

δ

.sub.β

) is derived in accordance with the relationship;

##EQU13## wherein V_F is the vehicle speed,

l_A is the wheel base of the vehicle,

β

is the angle of deflection of the forward or steered wheel with respect to the vehicle axis.

20. The system of claim 1, wherein means (2) are provided for furnishing signals representative of rotary speed of the respective wheels of the vehicle and including means for determining the vehicle speed (V_F) based on said furnished signals.

21. Speed control system for a motor vehicle, for controlling the speed of operation of the vehicle when operating in a curved path, comprising

lateral force sensing means (1d, 1e) secured to the vehicle (1) for sensing lateral forces (S_V, S_H);

means (1a, 1b, 1c) for determining the lateral slip angle (δ

_V, δ

_H) of the vehicle, as the vehicle operates in a path which is curved;

means for determining the change in forces acting on the vehicle based on said lateral forces and said lateral slip angle as the vehicle operates in a curved path; and

means for reducing the speed of the vehicle if the change in forces acting on the vehicle as it moves in a curved path indicates a tendency of the vehicle to veer off a steered course.

22. The system of claim 21, further including means (1a) for measuring the deflection angle (β

) of the steered wheels, and means (1c) for sensing the turning angle (α

) about a vertical axis of the vehicle, and for determining the angle of the car track vector (α

_B), each said deflection angle measuring means and turning angle sensing means providing an output signal;

and wherein said means for determining said angle of slip comprise calculating means (6,

     7) coupled to said deflection angle measuring means and the turning angle sensing means, and calculating the slip angle (δ

_V, δ

_H) as a function of said output signals of said deflection angle measuring means and said turning angle sensing means.

23. The system of claim 21 including

quotient deriving means (7) coupled to said lateral force sensing means and to said lateral slip angle determining means and deriving a quotient of lateral force, with respect to the slip angle, acting on the vehicle as the vehicle operates in a curved path, said quotient being representative of the relationship of said lateral force and said lateral slip angle;

and wherein said means for determining the change in forces acting on the vehicle as the vehicle operates in a curved path comprises means for determining the change in the quotient derived by said quotient deriving means.

24. Speed control system for a motor vehicle, for controlling the speed of operation of the vehicle when operating in a curved path, comprising

sensing means secured to the vehicle for sensing change in lateral forces (Δ

S_V, Δ

S_H) with respect to time;

means for determining the change of the angle of lateral slip (Δ

δ

_V, Δ

δ

_H) as the vehicle operates in a path which is curved;

quotient deriving means (7) coupled to said lateral forces change sensing means and to said lateral slip angle change determining means and deriving a changing quotient representative of the change in lateral forces and the change of the angle of lateral slip,, and deriving a signal representative of the change of said quotient; and

means (12, 2,

     4) for reducing the speed of the vehicle if the change in said quotient reaches a critical limit indicative of a tendency of the vehicle to veer off a given course.

25. The system of claim 24, wherein the means for determining the change of the lateral slip angle includes means (1a) for sensing the change of the deflection angle (Δ

β

) of the steered wheels and means for determining the change of the rotation angle (Δ

α

) of the vehicle about a vertical axis, and the change of the vector of the curve angle (Δ

α

β

) in which the vehicle operates with respect to sequential measuring instants (t₁, t₂), said sequential measuring instants following each other by predetermined measuring intervals.