System for controlling the motion of a vehicle

• US 6,339,739 B1
• Filed: 07/14/2000
• Issued: 01/15/2002
• Est. Priority Date: 08/24/1998
• Status: Expired due to Term

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Fiedler, Jens, Volkart, Asmus, Schubert, Michael, Brachert, Jost, Irion, Albrecht, Maier-Landgrebe, Rolf, Folke, Reiner
• Primary Examiner(s): ARTHUR JEANGLAUDE, GERTRUDE
• Application Number:
  US09/530,044
• Time in Patent Office: 550 Days
• Field of Search: 701/29, 701/43, 701/70, 701/72, 701/76, 701/78, 701/92, 340/825.06, 340/825.16, 340/438, 340/3.1, 340/3.43, 303/133, 303/146, 303/147, 180/170, 180/197, 477/28
• US Class Current: 701/70
• CPC Class Codes: B60T 2260/08 Coordination of integrated systems
• CPC Class Codes: B60T 2260/09 Complex systems; Conjoint control of two or more vehicle active control systems
• 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 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 2050/0006 Digital architecture hierarchy
• CPC Class Codes: B60W 2710/105 Output torque
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 50/00 Details of control systems for road vehicle drive control not related to the control of a particular sub-unit , e.g. process diagnostic or vehicle driver interfaces

Abstract

A system for controlling the motion of a vehicle is suggested which includes several levels. In a first level, at least one component is provided for controlling the vehicle motion which, in a further level, includes, as a refinement, a component “propulsion and brake”. In a third refinement level, this component is structured at least into the components “propulsion”and “brake system”.

Claims

1. A system for controlling the motion of a vehicle comprising:

an uppermost logic level for controlling said vehicle;

said uppermost logic level including at least one component for controlling the motion of said vehicle;

a plurality of detailing levels lying below said uppermost logic level;

said one component being apportioned into a plurality of components lying in said detailing levels;

said one component being apportioned in a first one of said detailing levels into a component for coordinating the vehicle motion and a component for controlling propulsion and braking;

said component for controlling propulsion and braking being apportioned in a second one of said detailing levels below said first detailing level into a component for controlling propulsion and a component for controlling the braking system;

said components functioning to communicate with each other on the basis of pregiven communication relationships;

said component for coordinating the vehicle motion functioning to issue commands to said component for controlling propulsion and braking with respect to first desired values (Mwheeldes) which are to be adjusted; and

,

said component for controlling propulsion and braking functioning to issue commands with respect to second desired values (MAwheeldes, MBwheeldes) to said component for controlling propulsion and said component for controlling said braking system in dependence upon said first desired values (Mwheeldes).

2. The system of claim 1, wherein wheel torques are to be adjusted on said vehicle;

and, wherein said one component for controlling the motion of said vehicle functions to transmit desired values for said wheel torques to at least said component for controlling propulsion or said component for controlling the braking system to ensure a stable vehicle motion.

3. The system of claim 1, wherein:

said one component for controlling the motion of said vehicle includes a coordinator which has an order relationship as a communication relationship to said component for controlling propulsion and braking via which desired wheel torques are inputted; and

, a request relationship is present between said component for controlling propulsion and braking and said component for coordinating the vehicle motion via which command wheel torques are transmitted.

4. The system of claim 1, wherein an adaptive road speed controller is assigned additionally to said component for propulsion and braking.

5. The system of claim 3, wherein:

the order relationship leads from said component for coordinating the vehicle motion to a torque distributor as part of said component for controlling propulsion and braking and, from said torque distributor, orders are transmitted further for the desired wheel torques to at least one of said components for controlling propulsion and said component for controlling said brake system.

6. The system of claim 1, wherein:

a driver command longitudinal movement component is assigned to said component for controlling propulsion and braking which determines a desired wheel torque from the desired propulsion torques or desired accelerations transmitted from the component for controlling propulsion, the component for controlling the brake system and/or a component for an adaptive road speed controller.

7. The system of claim 1, wherein said component for controlling the vehicle motion includes a vehicle motion controller as well as a wheel controller.

8. The system of claim 7, wherein said vehicle motion controller outputs desired wheel torques as to said component for controlling propulsion and braking, additionally transmits requests to the wheel controller with respect to the wheel slip or the axle difference rpms and receives desired wheel torques for the drive case and/or braking case from the wheel controller.

9. The system of claim 7, wherein said wheel controller includes a wheel slip control for a drive case and a wheel slip control for a braking case.

10. The system of claim 1, wherein:

said component for controlling propulsion is apportioned in a further level into differential, propulsion power and propulsion command; and

, desired wheel torques are converted into a desired power which is requested by the component for propulsion as drive power from said component for coordinating the vehicle motion.

11. The system of claim 1, wherein said vehicle has wheel brakes;

and, wherein said component for controlling the brake system executes a control of the wheel brakes on the basis of desired wheel torques supplied by a torque distributor.

12. The system of claim 1, wherein said component for controlling the motion of said vehicle includes a steering component for steering which, as a communication relationship to said component for coordinating vehicle motion, has a request relationship with respect to a steering command which is to be adjusted and receives an order from said component for coordinating vehicle motion as to a steering control which is to be actually realized.

13. The system of claim 1, wherein the said component for controlling the vehicle motion includes a chassis component, which has, as a communication relationship, a request relationship with respect to a chassis desired performance to said component for coordinating the vehicle motion and receives an order therefrom as to the chassis drive to be actually realized.