Modular vehicle dynamics control system

• US 5,832,402 A
• Filed: 12/22/1995
• Issued: 11/03/1998
• Est. Priority Date: 12/24/1994
• Status: Expired due to Term

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Schubert, Michael, Brachert, Jost, Leibeling, Frank, Hadeler, Ralf, Schuh, Juergen, Mueller, Elmar
• Primary Examiner(s): Zanelli, Michael
• Assistant Examiner(s): PIPALA, EDWARD J
• Application Number:
  US08/576,962
• Time in Patent Office: 1,047 Days
• Field of Search: 364/426.01, 364/426.015, 364/426.016, 364/426.017, 364/426.023, 364/426.025, 364/426.028, 303/146, 303/147, 303/148, 303/149, 303/150, 303/154, 303/155, 701/70, 701/71, 701/72, 701/73, 701/78, 701/80, 701/83
• US Class Current: 701/72
• CPC Class Codes: B60T 2270/86 Optimizing braking by using ESP vehicle or tire model
• CPC Class Codes: B60T 8/1755 Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02
• 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

The movement of a vehicle is controlled by actuating actuators which apply a braking force to the wheels. For this purpose, the rotational speeds of the wheels, the steering angle and at least one of the lateral acceleration and the yawing movement of the vehicle are detected. A first module is configured so that the actuators are actuated by means of the actuation signals with the effect of controlling a first variable. The second module is configured so that signals for influencing the actuation signals are formed with the effect of controlling a second control variable. In order to obtain this second control variable, at least the variable which represents the steering angle is processed. The second controller component brings about a control of a variable which is determined at least as a function of the lateral movement or the yawing movement of the vehicle.

Claims

1. A modular vehicle dynamics control system for controlling a movement variable which represents the movement of a vehicle having actuators for applying a braking force at the wheels, said system comprising

detection means for detecting rotational movements of the wheels, a variable which represents the steering angle, and at least one variable selected from the group consisting of a variable which represents the lateral movement and a variable which represents the yaw movement of the vehicle,

a first controller component which functions as a first module which forms actuation signals for the actuators with the effect of controlling a first control variable which is determined as a function of at least the detected rotational movements of the wheels, and

a second controller component which functions as a second module which forms signals at least as a function of the steering angle variable which modify the actuation signals with the effect of controlling a second control variable determined as a function of at least said selected variable representing the lateral movement or the yaw movement of the vehicle.

2. The modular vehicle dynamics control system as claimed in claim 1, wherein the first control variable represents at least one of the wheel slip and the wheel deceleration and the second control variable is a variable which is associated at least indirectly with one of the lateral movement and the yaw movement of the vehicle.

3. The modular vehicle dynamics control system as claimed in claim 2, wherein the first module functions as an anti-lock brake control system, said system further comprising at least one of

a traction control module by means of which the wheel slip is adjusted by forming actuation signals for actuating actuator elements in order to reduce the wheel drive torque, and

a gearbox control module by means of which the transmission ratio between the engine of the vehicle and the wheels is adjusted or controlled by forming actuation signals for actuating actuator elements.

4. The system according to claim 1, and the signals from said second controller component modifying said actuation signals modifying said actuation signals independently of the consequences of said modification on said first control variable on which the first controller component forms said actuation signals.

5. The system according to claim 4, and

the signals from said second controller component modifying said actuation signals modifying said actuation signals after the formation thereof.

6. The modular vehicle dynamics control system as claimed in claim 1 further comprising monitoring means for monitoring at least one of the second module and the means for detecting the variable which represents the steering angle and the variable which represents the lateral movement and the yaw movement of the vehicle, the formation of the signals modifying the actuation signals being suppressed in reaction to incorrect functioning determined by the monitoring means.

7. The modular vehicle dynamics control system as claimed in claim 1, wherein the controller-internal variables which are used in the second module can be detected as a function of sensor signals of a selected sensor configuration, and the second module has two areas wherein

the first area is adapted to the selected sensor configuration in such a way that the controller-internal variables are formed on the basis of the sensor signals, and

the second area is configured to process the controller-internal variables independently of the selection of the sensor configuration.

8. The modular vehicle dynamics control system as claimed in claim 1, wherein the second module comprises

a first submodule which determines a reference variable as a function of at least the longitudinal vehicle speed which is derived from the rotational movements of the wheels and the variable which represents the steering angle;

and

a second submodule which forms the second control variable and compares it with the determined reference variable in order to form the signals modifying the actuation signals of the actuators.

9. The modular vehicle dynamics control system as claimed in claim 8, wherein the second module has a third submodule by means of which a variable which represents the current travel situation status is determined as a function of at least the detected rotational movements of the wheel and at least one of the variables which represent the lateral movement and the yaw movement of the vehicle, and this variable is fed to at least the first or the second submodule.

10. The modular vehicle dynamics control system as claimed in claim 9, wherein the third submodule comprises at least one of

a device for detecting skidding, by means of which a variable which represents the vehicle stability as formed, by means of a vehicle model, as a function of at least the detected variable which represents the steering angle and at least one of the detected variables which represent the lateral movement or the yawing movement of the vehicle,

a device for detecting μ

split, by means of which a variable is formed at least as a function of the detected variable which represents the steering angle, at least one of the detected variables which represent the lateral movement and the yawing movement of the vehicle and the actuation signals of the actuators, said variable being representative of whether the coefficients of friction of the roadway on the right-hand side and the left-hand side of the vehicle differ to a specific degree, and

a device for detecting a coefficient of friction, by means of which a variable which represents the coefficient of friction of the roadway is formed, by means of a vehicle model, at least as a function of the detected variable which represents the steering angle and at least one of the detected variables which represent the lateral movement or the yawing movement of the vehicle.

11. The modular vehicle dynamics control system as claimed in claim 8, wherein the first submodule forms two limit values from at least the variable which represents the steering angle and a variable which represents longitudinal vehicle speed, by means of a vehicle model.

12. The modular vehicle dynamics control system as claimed in claim 11, wherein the two limit values are formed as a function of at least one variable which represents the current travel situation.

13. The modular vehicle dynamics control system as claimed in claim 11, wherein the actuation signals of the actuators are only modified by means of the signals modifying the actuation signals if the second control variable is outside the limit values or leaves the desired range established by the limit values.

14. A modular vehicle dynamics control system for controlling a movement variable which represents the movement of a vehicle having actuators for applying a braking force at the wheels, said system comprising

detection means for detecting rotational movements of the wheels, a variable which represents the steering angle, and at least one of variables which represents the lateral movement and which represents the yaw movement of the vehicle,

first and second controller components each being a respective discrete module,

said second controller component forming signals as a function of the steering angle variable and at least one variable selected from the group consisting of a variable representing lateral movement of the vehicle and a variable representing yaw movement of the vehicle, and

said first controller component forming signals for the actuators, said signals being formed as a function of the rotational movements of the wheels and then subsequently adjusted based on the signals formed by the second controller component.