Method and device for detecting motor vehicle tilt

• US 6,311,111 B1
• Filed: 10/13/1999
• Issued: 10/30/2001
• Est. Priority Date: 11/22/1997
• Status: Expired due to Term

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Wetzel, Gabriel, Leimbach, Klaus-Dieter
• Primary Examiner(s): Zanelli, Michael J.
• Application Number:
  US09/355,135
• Time in Patent Office: 748 Days
• Field of Search: 701/37, 701/38, 701/48, 701/72, 180/282, 280/5.502, 280/5.506, 280/5.507, 340/440
• US Class Current: 701/38
• CPC Class Codes: B60R 16/0233 Vehicle tilting, overturning or roll over
• CPC Class Codes: B60T 2230/03 Overturn, rollover
• 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 8/17554 specially adapted for enhancing stability around the vehicles longitudinal axle, i.e. roll-over prevention road vehicle drive control systems for roll-over prevention otherwise than by controlling a particular sub-unit B60W30/04

Abstract

A method and a device serve to detect a tendency of a vehicle to roll over about a vehicle axis oriented in the longitudinal direction of the vehicle. To do so, a variable describing the wheel rpm is determined for at least one wheel. Furthermore, at least one variable representing the transverse dynamics of the vehicle is determined. For at least one wheel, a variable describing the wheel behavior quantitatively is determined at least as a function of the variable describing the wheel rpm of the corresponding wheel and one of the variables representing the transverse dynamics of the vehicle. Whether the vehicle has a tendency to roll over about a vehicle axis oriented in the longitudinal direction of the vehicle is determined at least as a function of the variable determined for at least one wheel, describing the wheel behavior of this wheel quantitatively. The method and the device for detecting a tendency of a vehicle to roll over about a vehicle axis oriented in the longitudinal direction of the vehicle are used in the context of stabilizing the vehicle.

Claims

1. A method for detecting a tendency of a vehicle to roll over about a vehicle axis, the vehicle axis being oriented in a longitudinal direction of the vehicle, the method comprising the steps of:

(a) determining, for at least one wheel, a variable describing a wheel rpm;

(b) determining at least one variable representing transverse dynamics of the vehicle;

(c) determining, for the at least one wheel, a variable describing quantitatively a wheel behavior, the variable describing quantitatively the wheel behavior being a function of (1) the variable describing the wheel rpm for a corresponding wheel of the at least one wheel and (2) the at least one variable representing the transverse dynamics of the vehicle; and

(d) determining whether the vehicle has the tendency to roll over about the vehicle axis as a function of at least the variable describing quantitatively the wheel behavior of at least one of the at least one wheel.

2. The method according to claim 1, wherein the method is used for stabilizing the vehicle and wherein, if the vehicle is determined to have the tendency to roll over, then, in order to stabilize the vehicle, at least one of a braking measure at the at least one wheel, an engine measure and a measure involving chassis actuators is taken.

3. The method according to claim 2, wherein the stabilizing of the vehicle includes preventing the vehicle from rolling over.

4. The method according to claim 1, wherein the step of determining, for a respective wheel of the at least one wheel, the variable describing quantitatively the wheel behavior includes the step of determining a variable describing a wheel load acting on the respective wheel.

5. The method according to claim 1, wherein the step of determining the variable describing quantitatively the wheel behavior includes the step of determining the variable describing quantitatively the wheel behavior as a function of at least one of the variable describing the wheel rpm for the corresponding wheel and a variable describing a vehicle speed, and at least one of the variable representing the transverse dynamics of the vehicle and a variable describing a vehicle geometry.

6. The method according to claim 5, wherein the at least one variable representing the transverse dynamics of the vehicle is a function of at least one of a variable describing a transverse acceleration of the vehicle and a variable describing a yaw of the vehicle, and wherein the variable describing the vehicle speed is a function of the variable describing the wheel rpm.

7. The method according to claim 1, wherein the vehicle has the tendency to roll over when at least one of the following occurs:

the variable, for the at least one wheel, describing quantitatively the wheel behavior is greater than a first threshold value;

the variable, for the at least one wheel, describing quantitatively the wheel behavior is smaller than a second threshold value;

an absolute value of a difference between the variable, for the at least one wheel, describing quantitatively the wheel behavior and a comparison value is greater than a third threshold value;

an absolute value of a variable describing a time characteristic of the variable, for the at least one wheel, describing quantitatively the wheel behavior is smaller than a fourth threshold value; and

an absolute value of a variable describing an angle of inclination of a particular wheel axle is greater than a fifth threshold value, the variable describing the angle of inclination being a function of at least the respective variable describing quantitatively the wheel behavior for each wheel of the at least one wheel on the particular wheel axle.

8. A device for detecting a tendency of a vehicle to roll over about a vehicle axis, the vehicle axis being oriented in a longitudinal direction of the vehicle, comprising:

first means for determining a variable describing a wheel rpm for at least one wheel;

second means for determining at least one variable representing transverse dynamics of the vehicle;

third means for determining, for the at least one wheel, a variable describing quantitatively a wheel behavior, the variable describing quantitatively the wheel behavior being a function of the variable determined by the first means for a corresponding wheel and the at least one variable determined by the second means; and

fourth means for determining whether the vehicle has the tendency to roll over about the vehicle axis as a function of at least the variable determined by the third means for the at least one wheel.

9. The device according to claim 8, wherein the device is used for stabilizing the vehicle and wherein, if the vehicle has the tendency to roll over, then, in order to stabilize the vehicle, at least one measure is taken at the at least one wheel including activating at least one of (A) at least one actuator associated with the at least one wheel, (B) means for influencing a torque delivered by an engine and (C) at least one actuator associated with a chassis.

10. The device according to claim 9, wherein the stabilizing of the vehicle includes preventing the vehicle from rolling over.

11. A method for detecting a tendency of a vehicle to roll over about a vehicle axis, the vehicle axis being oriented in a longitudinal direction of the vehicle, the method comprising the steps of:

(a) determining, for at least one wheel, a variable describing a wheel rpm;

(b) determining at least one variable representing transverse dynamics of the vehicle;

(c) determining, for the at least one wheel, a variable describing quantitatively a wheel behavior, the variable describing quantitatively the wheel behavior being a function of (1) the variable describing the wheel rpm for a corresponding wheel of the at least one wheel and (2) the at least one variable representing the transverse dynamics of the vehicle; and

(d) determining whether the vehicle has the tendency to roll over about the vehicle axis as a function of at least the variable describing quantitatively the wheel behavior of at least one of the at least one wheel, wherein the step of determining whether the vehicle has the tendency to roll over includes the steps of;

comparing an absolute value of one of the at least one variable representing the transverse dynamics of the vehicle to a threshold value; and

performing the determination of whether the vehicle has the tendency to roll over when the absolute value is greater than the threshold value.

12. The method according to claim 11, wherein the absolute value of one of the at least one variable representing the transverse dynamics of the vehicle includes an absolute value of at least one of a variable describing a transverse acceleration and a variable describing a yaw of the vehicle.

13. A method for detecting a tendency of a vehicle to roll over about a vehicle axis, the vehicle axis being oriented in a longitudinal direction of the vehicle, the method comprising the steps of:

(a) determining, for at least one wheel, a variable describing a wheel rpm;

(b) determining at least one variable representing transverse dynamics of the vehicle;

(c) determining, for the at least one wheel, a variable describing quantitatively a wheel behavior, the variable describing quantitatively the wheel behavior being a function of (1) the variable describing the wheel rpm for a corresponding wheel of the at least one wheel and (2) the at least one variable representing the transverse dynamics of the vehicle; and

(d) determining whether the vehicle has the tendency to roll over about the vehicle axis as a function of at least the variable describing quantitatively the wheel behavior of at least one of the at least one wheel, wherein the step of determining whether the vehicle has the tendency to roll over includes the steps of;

determining a variable describing at least one of a drive slip and a wheel slip prevailing at a particular wheel of the at least one wheel;

comparing an absolute value of the variable describing at least one of the drive slip and the wheel slip to a corresponding threshold value; and

performing the determination of whether the vehicle has the tendency to roll over as a function of the comparing.

14. The method according to claim 13, wherein the performing of the determination includes at least one of the following steps:

performing a first kind of determination of whether the vehicle has the tendency to roll over if the absolute value of the variable describing at least one of the drive slip and the wheel slip prevailing at the particular wheel is smaller than the corresponding threshold value, the first kind of determination being a function of at least the variable describing quantitatively the wheel behavior for at least the particular wheel in an instantaneous time increment; and

performing a second kind of determination of whether the vehicle has the tendency to roll over if the absolute value of the variable describing at least one of the drive slip and the wheel slip prevailing at the particular wheel is not smaller than the corresponding threshold value, the second kind of determination being a function of at least the variable describing quantitatively the wheel behavior for at least the particular wheel in a preceding time increment.

15. A method for detecting a tendency of a vehicle to roll over about a vehicle axis, the vehicle axis being oriented in a longitudinal direction of the vehicle, the method comprising the steps of:

(a) determining, for at least one wheel, a variable describing a wheel rpm;

(b) determining at least one variable representing transverse dynamics of the vehicle;

(c) determining, for the at least one wheel, a variable describing quantitatively a wheel behavior, the variable describing quantitatively the wheel behavior being a function of (1) the variable describing the wheel rpm for a corresponding wheel of the at least one wheel and (2) the at least one variable representing the transverse dynamics of the vehicle, wherein the step of determining for a respective wheel of the at least one wheel, the variable describing quantitatively the wheel behavior includes a step of determining a variable describing a wheel load acting on the respective wheel and a step of determining a variable describing at least one of a diameter and a radius of the respective wheel; and

(d) determining whether the vehicle has the tendency to roll over about the vehicle axis as a function of at least the variable describing quantitatively the wheel behavior of at least one of the at least one wheel.

16. A method for detecting a tendency of a vehicle to roll over about a vehicle axis, the vehicle axis being oriented in a longitudinal direction of the vehicle, the method comprising the steps of:

(a) determining, for at least one wheel, a variable describing a wheel rpm;

(b) determining at least one variable representing transverse dynamics of the vehicle;

(c) determining, for the at least one wheel, a variable describing quantitatively a wheel behavior, the variable describing quantitatively the wheel behavior being a function of (1) the variable describing the wheel rpm for a corresponding wheel of the at least one wheel and (2) the at least one variable representing the transverse dynamics of the vehicle; and

(d) determining whether the vehicle has the tendency to roll over about the vehicle axis as a function of at least the variable describing quantitatively the wheel behavior of at least one of the at least one wheel, wherein the vehicle has the tendency to roll over when an absolute value of a difference between a variable describing a vehicle speed and a speed limit value is smaller than a corresponding threshold value.

17. The method according to claim 16, wherein the speed limit value is a function of at least a variable describing a height of a center of gravity of the vehicle and wherein the variable describing the height of the center of gravity of the vehicle is a function of the variable describing quantitatively the wheel behavior for the at least one wheel.