Method and device for controlling motion parameters representing the movement of a motor vehicle motion quantity

• US 6,226,581 B1
• Filed: 05/12/1999
• Issued: 05/01/2001
• Est. Priority Date: 06/30/1997
• Status: Expired due to Term

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Volkart, Asmus, Schubert, Michael, Kraemer, Wolfgang, Reimann, Gerd
• Primary Examiner(s): LOUIS JACQUES, JACQUES H
• Application Number:
  US09/254,197
• Time in Patent Office: 720 Days
• Field of Search: 701/48, 701/36, 701/37, 701/41, 701/70, 701/71, 701/72, 701/1, 701/77, 701/78, 701/79, 701/74, 701/82, 303/146, 303/147, 180/197, 340/459
• US Class Current: 701/48
• CPC Class Codes: B60T 2230/02 Side slip angle, attitude angle, floating angle, drift angle
• CPC Class Codes: B60T 2260/02 Active Steering, Steer-by-Wire
• CPC Class Codes: B60T 2260/06 Active Suspension System
• CPC Class Codes: B60T 2260/08 Coordination of integrated systems
• 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
• 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: B60W 10/06 including control of combustion engines
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 10/22 including control of suspension systems
• CPC Class Codes: B60W 30/02 Control of vehicle driving stability
• CPC Class Codes: B60W 40/08 related to drivers or passengers
• CPC Class Codes: B60W 40/11 Pitch movement
• CPC Class Codes: B60W 40/112 Roll movement
• CPC Class Codes: B60W 40/114 Yaw movement
• CPC Class Codes: B62D 6/003 in order to control vehicle yaw movement, i.e. around a vertical axis B62D6/007 takes precedence

Abstract

Device and method which to control movement quantities representing the movement of the vehicle. The device contains first arrangement for detecting quantities representing the movement of the vehicle. The device has at least two control devices which implement, independently of one another, control actions to stabilize the vehicle with the help of suitable actuators on the basis of quantities detected with the help of the first arrangement. At least one of the control devices influences the steering of the vehicle. Furthermore, at least one of the control devices influences the brakes and/or the engine of the vehicle, and/or an additional control device influences the chassis actuators. In addition, the device has a second arrangement with which signals and/or quantities are determined on the basis of the quantities detected with the first arrangement and used to influence at least temporarily at least one of the minimum of two control devices, so that the vehicle is thereby stabilized. At least one of the minimum of two control devices implements control actions to stabilize the vehicle, without being influenced by the second arrangement until it is influenced by the signals and/or quantities determined with the help of the second arrangement.

Claims

1. A device for controlling first quantities which represent a movement of a motor vehicle, the device comprising:

a first arrangement detecting the first quantities;

a plurality of control devices including actuators and implementing control actions independently of one another using the actuators, the control devices implementing the control actions to stabilize the motor vehicle from effects of the first quantities, the control devices having;

at least one first device implementing first actions of the control actions and engaging with at least one of brakes and an engine of the motor vehicle using the first actions, and

at least one of a second device and a third device, the second device implementing second actions of the control actions and engaging with a steering arrangement of the motor vehicle using the second actions, the third device implementing third actions of the control actions and engaging with chassis actuators of the motor vehicle using the third actions; and

a second arrangement determining at least one of particular signals and second quantities as a function of the first quantities, the at least one of the particular signals and the second quantities being determined for at least temporarily influencing at least one particular device of the control devices to stabilize the motor vehicle,

wherein the at least one particular device performs the control actions to stabilize the motor vehicle until the at least one particular device is affected by the at least one of the particular signals and the second quantities, the at least one particular device performing the control actions without being affected by the second arrangement.

2. The device according to claim 1, further comprising:

a third arrangement receiving the first quantities and determining at least one of third quantities and fourth quantities, the third quantities representing a driving status of the motor vehicle and being determined as a function of the first quantities, the fourth quantities representing setpoints selected by a driver,

wherein the third arrangement transmits at least one of the third quantities and the fourth quantities to the second arrangement for determining at least one of the particular signals and the second quantities.

3. The device according to claim 1, wherein the control devices include at least one of a controller arrangement and a fourth arrangement for driving the actuators which are assigned to respective ones of the control devices.

4. The device according to claim 3, wherein the controller arrangement receives the first quantities and the at least one of the particular signals and the second quantities, and generates at least one of further signals and fifth quantities as a function of the first quantities and the at least one of the particular signals and the second quantities.

5. The device according to claim 4, wherein the controller arrangement transmits the at least one of the further signals and the fifth quantities to the fourth arrangement for driving the actuators assigned to the respective ones of the control devices.

6. The device according to claim 4, wherein the fourth arrangement generates at least one of control signals and sixth quantities for driving the actuators assigned to the respective ones of the control devices as a function of at least one of:

the further signals, and

the fifth quantities and the first quantities.

7. The device according to claim 3, wherein the controller arrangement includes at least one of:

a controller influencing arrangement,

a controller implementing a control measure characteristic of the control devices, and

a fifth arrangement implementing further control actions.

8. The device according to claim 7, wherein the controller influencing arrangement determines at least one of additional signals and additional quantities as a function of at least one of the particular signals and the second quantities.

9. The device according to claim 8, wherein the controller influencing arrangement influences the controller which is assigned to the controller influencing arrangement using the at least one of the additional signals and the additional quantities.

10. The device according to claim 8, wherein the controller determines at least one of controlling signals and seventh quantities as a function of the first quantities and the at least one of the additional signals and the additional quantities, the at least one of the controlling signals and the seventh quantities being transmitted to the fourth arrangement for driving the actuators assigned to the respective ones of the control devices.

11. The device according to claim 7,

wherein the fifth arrangement implements the further control actions as a function of the first quantities and determines at least one of controlling signals and eighth quantities to be transmitted to the fourth arrangement for driving the actuators assigned to the respective ones of the control devices, and

wherein the at least one of the controlling signals and the eighth quantities is determined independently of the at least one of the particular signals and second quantities.

12. The device according to claim 1, wherein the at least one of the particular signals and the second quantities includes at least one of:

device signals which at least one of;

block at least one individual device of the control devices,

release the at least one individual device, and

influence an enablement of the at least one individual device,

ninth quantities for adjusting the control actions of the at least one individual device,

tenth quantities defining a system deviation value determined in the controller of the at least one individual device which influences the control actions,

eleventh quantities limiting the control actions,

twelfth quantities representing at least one setpoint for the controller, and

thirteenth quantities for at least one of preselecting and modifying a control procedure which is executed in the controller.

13. The device according to claim 12, wherein the ninth quantities include variable gain factors.

14. The device according to claim 12, wherein the tenth quantities include action threshold values.

15. The device according to claim 12, wherein the eleventh quantities are maximum threshold values.

16. The device according to claim 1, wherein the second device includes:

a controller arrangement which has a controller influencing arrangement, a controller for implementing steering measures to stabilize the motor vehicle and a third arrangement for implementing additional steering measures, and

a fourth arrangement for driving the steering actuator.

17. The device according to claim 1, wherein the at least one first device includes:

a controller arrangement having a controller influencing arrangement and a controller for implementing the first actions to stabilize the vehicle, the first actions being at least one of brake actions and engine actions, and

a third arrangement driving at least one of the brakes and the engine.

18. The device according to claim 1, wherein the third device includes:

a controller arrangement having a controller influencing arrangement, a controller implementing the respective third actions for stabilizing the motor vehicle and a third arrangement implementing additional chassis actions, and

a fourth arrangement driving the chassis actuators of the actuators.

19. A method for controlling first quantities representing a movement of a vehicle, comprising the steps of:

determining the first quantities using a first arrangement;

performing control actions with a plurality of control devices, one of the control devices performing the control actions independently from another one of the control devices as a function of the first quantities to stabilize the vehicle by utilizing actuators of the control devices;

influencing at least one of brakes and an engine of the vehicle using at least one first device of the control devices, the at least first device performing a first action of the control actions to influence the at least one of the brakes and the engine;

performing at least one of the following steps;

influencing a steering arrangement of the vehicle using at least one second device of the control devices, the at least one second device performing a second action of the control actions to influence the steering arrangement, and

influencing chassis actuators of the actuators of the vehicle using at least one third device of the control devices, the at least one third device performing a third action of the control actions to influence the chassis actuators;

determining at least one of particular signals and second quantities using a second arrangement as a function of the first quantities; and

at least temporarily influencing at least one particular device of the control devices to stabilize the vehicle,

wherein the at least one particular device performs the control actions to stabilize the vehicle until the at least one particular device is affected by the at least one of the particular signals and the second quantities, the at least one particular device performing the control actions without being affected by the second arrangement.

20. A device for controlling first quantities which represent a movement of a motor vehicle, the device comprising:

a first arrangement detecting the first quantities;

a second arrangement performing at least one of;

determining second quantities representing a driving status of the motor vehicle, and

determining third quantities representing setpoints selected by a driver as a function of the first quantities,

a third arrangement determining fourth quantities as a function of at least one of the second quantities and the third quantities for at least temporarily influencing a plurality of control devices, each of the control devices performing control actions to stabilize the vehicle using actuators of the control devices as a function of at least one of the first quantities and the fourth quantities, one of the control devices performing the control actions independently from another one of the control devices,

wherein at least one first device of the control devices influences at least one of brakes and an engine of the vehicle, the at least one first device performing a first action of the control actions to influence the at least one of the brakes and the engine,

wherein the control devices include at least one of a second device and a third device, the second device influencing a steering arrangement of the vehicle by performing a second action of the control actions, the third device influencing chassis actuators of the actuators of the vehicle by performing a third action of the control actions,

wherein the control devices include at least one corresponding controller arrangement which generates particular signals for driving a fourth arrangement provided in at least one respective device of the control devices, the fourth arrangement controlling the actuators assigned to the at least one respective device, and

wherein the at least one corresponding controller arrangement includes at least one of;

at least one controller for stabilizing the vehicle,

a controller influencing arrangement, and

a fifth arrangement for implementing additional actions.

21. A device for controlling first quantities which represent a movement of a motor vehicle, the device comprising:

a first arrangement detecting the first quantities;

a plurality of control devices including actuators and implementing control actions independently of one another using the actuators, the control devices implementing the control actions to stabilize the motor vehicle from effects of the first quantities, at least one first device of the control devices influencing a steering arrangement of the vehicle, the at least one first device performing a first action of the control actions to influence the steering arrangement, at least one second device of the control devices influencing chassis actuators of the actuators of the vehicle by performing a second action of the control actions,

a second arrangement determining at least one of particular signals and second quantities as a function of the first quantities,

wherein the control devices at least temporarily influences at least one particular device of the control devices to stabilize the vehicle, and

wherein the at least one particular device performs the control actions to stabilize the vehicle until the at least one particular device is affected by the at least one of the particular signals and the second quantities, the at least one particular device performing the control actions without being affected by the second arrangement.