Method and device for regulating a quantity of motion representing the movement of a vehicle

• US 6,427,130 B1
• Filed: 04/26/1999
• Issued: 07/30/2002
• Est. Priority Date: 07/02/1997
• Status: Expired due to Term

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Urban, Werner, Mergenthaler, Rolf-Hermann
• Primary Examiner(s): Hoff, Marc S.
• Assistant Examiner(s): TSAI, CAROL S W
• Application Number:
  US09/254,156
• Time in Patent Office: 1,191 Days
• Field of Search: 702/142, 702/127, 701/1, 701/36, 701/41, 701/70-72, 701/78, 701/82, 701/83, 701/91, 303/140, 303/146, 303/147, 303/186, 731/21, 731/46
• US Class Current: 702/142
• CPC Class Codes: B60T 2210/22 Banked curves
• 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

Abstract

A device is part if a device for regulating a motion variable representing the vehicle motion. This device is used to determine whether a vehicle is located on a road surface inclined across the direction of travel of the vehicle. The device has a first apparatus for detecting various variables describing the vehicle motion. Furthermore, this device contains a second apparatus with which identically defined comparison Variables are determined at least on the basis of the various variables describing the vehicle motion detected with the first apparatus. In the third apparatus of this device, plausibility queries are performed at least on the basis of the identically defined comparison variables to determine whether the vehicle is located on a road surface inclined across the direction of travel of the vehicle. The result of the determination performed with the third apparatus is taken into account in regulating the motion variable representing the vehicle motion.

Claims

1. A device for regulating a motion variable representing a vehicle motion of a vehicle, comprising:

a first apparatus for detecting a plurality of variables corresponding to the vehicle motion, each one of the plurality of variables corresponding to the vehicle motion being different from another one of the plurality of variables corresponding to the vehicle motion;

a second apparatus for determining a plurality of identically defined comparison variables for at least two elements of the first apparatus on the basis of at least the plurality of variables corresponding to the vehicle motion; and

a third apparatus for performing a plurality of plausibility queries at least on the basis of the plurality of identically defined comparison variables in order to perform a determination as to whether the vehicle is located on a road surface inclined transversely to a direction of travel of the vehicle, wherein a result of the determination is taken into account in regulating the motion variable representing the vehicle motion.

2. The device according to claim 1, further comprising a fourth apparatus, wherein the result of the determination performed in the third apparatus is taken into account in at least one of:

determining the plurality of identically defined comparison variables,

monitoring at least one element of the first apparatus in the third apparatus,

causing the fourth apparatus to provide, at least on the basis of the plurality of variables corresponding to the vehicle motion, at least a plurality of control signals for a plurality of actuators for regulating the motion variable representing the vehicle motion, and

the plurality of control signals influences at least one of a forward driving torque and a braking torque acting on a plurality of wheels of the vehicle.

3. The device according to claim 1, wherein:

the plurality of identically defined comparison variables represents one of a physical variable and a variable corresponding to a yaw rate and detected by the first apparatus present in the vehicle.

4. The device according to claim 1, wherein:

at least one plausibility query is performed in the third apparatus on the basis of the plurality of identically defined comparison variables to determine whether the plurality of identically defined comparison variables is arranged in at least one predetermined arrangement in accordance with values of the plurality of identically defined comparison variables,

at least one of a minimum of the at least one predetermined arrangement corresponds to a cornering on the road surface inclined across the direction of travel of the vehicle,

at least one variable corresponding to a deviation between the plurality of identically defined comparison variables is determined in the third apparatus on the basis of the plurality of identically defined comparison variables,

a variable corresponding to a change over time in a difference formed from a variable detected with the first apparatus corresponding to a transverse acceleration acting on the vehicle and a comparison variable for the transverse acceleration is determined in the third apparatus on the basis of the variable corresponding to the transverse acceleration and the comparison variable, and

at least one of a result of a minimum of one plausibility query, the at least one variable corresponding to the deviation between the plurality of identically defined comparison variables, and the variable corresponding to the change over time in the difference formed from the variable corresponding to the transverse acceleration acting on the vehicle and the comparison variable for the transverse acceleration is taken into account in determining whether the vehicle is on the road surface inclined across the direction of travel of the vehicle.

11. The device according to claim 1, wherein:

a variable corresponding to a vehicle speed is determined at least on the basis of a part of the plurality of variables corresponding to the vehicle motion detected with the first apparatus, and

the determination as to whether the vehicle is located on a road surface inclined transversely to a direction of travel of the vehicle is performed only when at least one of the following conditions is satisfied;

the variable corresponding to the vehicle speed is greater than a respective threshold value, and

an absolute value of a first identically defined comparison variable is greater than an absolute value of a second identically defined comparison variable.

5. A device for regulating a motion variable representing a vehicle motion of a vehicle, comprising:

a first apparatus for detecting a plurality of variables corresponding to the vehicle motion, each one of the plurality of variables corresponding to the vehicle motion being different from another one of the plurality of variables corresponding to the vehicle motion;

a second apparatus for determining a plurality of identically defined comparison variables for at least two elements of the first apparatus on the basis of at least the plurality of variables corresponding to the vehicle motion; and

a third apparatus for performing a plurality of plausibility queries at least on the basis of the plurality of identically defined comparison variables in order to perform a determination as to whether the vehicle is located on a road surface inclined transversely to a direction of travel of the vehicle, wherein a result of the determination is taken into account in regulating the motion variable representing the vehicle motion, wherein;

at least one plausibility query is performed in the third apparatus on the basis of the plurality of identically defined comparison variables to determine whether the plurality of identically defined comparison variables is arranged in it least one predetermined arrangement in accordance with values of the plurality of identically defined comparison variables,

at least one of a minimum of the at least one predetermined arrangement corresponds to a cornering on the road surface inclined across the direction of travel of the vehicle,

at least one variable corresponding to a deviation between the plurality of identically defined comparison variables is determined in the third apparatus on the basis of the plurality of identically defined comparison variables,

a variable corresponding to a change over time in a difference formed from a variable detected with the first apparatus corresponding to a transverse acceleration acting on the vehicle and a comparison variable for the transverse acceleration is determined in the third apparatus on the basis of the variable corresponding to the transverse acceleration and the comparison variable,

at least one of a result of a minimum of one plausibility query, the at least one variable corresponding to the deviation between the plurality of identically defined comparison variables, and the variable corresponding to the change over time in the difference formed from the variable corresponding to the transverse acceleration acting on the vehicle and the comparison variable for the transverse acceleration is taken into account in determining whether the vehicle is on the road surface inclined across the direction of travel of the vehicle,

a variable corresponding to a vehicle speed of the vehicle is determined at least on the basis of at least some of the plurality of variables corresponding to the vehicle motion,

at least one reference variable is determined on the basis of the plurality of identically defined comparison variables, and

the comparison variable for the transverse acceleration is determined at least on the basis of the variable corresponding to the vehicle speed and the at least one reference variable.

6. A device for regulating a motion variable representing a vehicle motion of a vehicle, comprising:

a first apparatus for detecting a plurality of variables corresponding to the vehicle motion, each one of the plurality of variables corresponding to the vehicle motion being different from another one of the plurality of variables corresponding to the vehicle motion;

a second apparatus for determining a plurality of identically defined comparison variables for at least two elements of the first apparatus on the basis of at least the plurality of variables corresponding to the vehicle motion; and

a third apparatus for performing a plurality of plausibility queries at least on the basis of the plurality of identically defined comparison variables in order to perform a determination as to whether the vehicle is located on a road surface inclined transversely to a direction of travel of the vehicle, wherein a result of the determination is taken into account in regulating the motion variable representing the vehicle motion, wherein;

at least one plausibility query is performed in the third apparatus on the basis of the plurality of identically defined comparison variables to determine whether the plurality of identically defined comparison variables is arranged in al;

least one predetermined arrangement in accordance with values of the plurality of identically defined comparison variables,

at least one of a minimum of the at least one predetermined arrangement corresponds to a cornering on the road surface inclined across the direction of travel of the vehicle,

at least one variable corresponding to a deviation between the plurality of identically defined comparison variables is determined in the third apparatus on the basis of the plurality of identically defined comparison variables,

a variable corresponding to a change over time in a difference formed from a variable detected with the first apparatus corresponding to a transverse acceleration acting on the vehicle and a comparison variable for the transverse acceleration is determined in the third apparatus on the basis of the variable corresponding to the transverse acceleration and the comparison variable,

at least one of a result of a minimum of one plausibility query, the at least one variable corresponding to the deviation between the plurality of identically defined comparison variables, and the variable corresponding to the change over time in the difference formed from the variable corresponding to the transverse acceleration acting on the vehicle and the comparison variable for the transverse acceleration is taken into account in determining whether the vehicle is on the road surface inclined across the direction of travel of the vehicle; and

wherein

in order to form the at least one variable corresponding to the deviation between the plurality of identically defined comparison variables on the basis of each of the plurality of identically defined comparison variables, a variable is determined for each deviation between each identically defined comparison variable and another identically defined comparison variable.

7. A device for regulating a motion variable representing a vehicle motion of a vehicle, comprising:

a first apparatus for detecting a plurality of variables corresponding to the vehicle motion, each one of the plurality of variables corresponding to the vehicle motion being different from another one of the plurality of variables corresponding to the vehicle motion;

a second apparatus for determining a plurality of identically defined comparison variables for at least two elements of the first apparatus on the basis of at least the plurality of variables corresponding to the vehicle motion; and

a third apparatus for performing a plurality of plausibility queries at least on the basis of the plurality of identically defined comparison variables in order to perform a determination as to whether the vehicle is located on a road surface inclined transversely to a direction of travel of the vehicle, wherein a result of the determination is taken into account in regulating the motion variable representing the vehicle motion, wherein;

at least one plausibility query is performed in the third apparatus on the basis of the plurality of identically defined comparison variables to determine whether the plurality of identically defined comparison variables is arranged in at least one predetermined arrangement in accordance with values of the plurality of identically defined comparison variables,

at least one of a minimum of the at least one predetermined arrangement corresponds to a cornering on the road surface inclined across the direction of travel of the vehicle,

at least one variable corresponding to a deviation between the plurality of identically defined comparison variables is determined in the third apparatus on the basis of the plurality of identically defined comparison variables,

a variable corresponding to a change over time in a difference formed from a variable detected with the first apparatus corresponding to a transverse acceleration acting on the vehicle and a comparison variable for the transverse acceleration is determined in the third apparatus on the basis of the variable corresponding to the transverse acceleration and the comparison variable, and

at least one of a result of a minimum of one plausibility query, the at least one variable corresponding to the deviation between the plurality of identically defined comparison variables, and the variable corresponding to the change over time in the difference formed from the variable corresponding to the transverse acceleration acting on the vehicle and the comparison variable for the transverse acceleration is taken into account in determining whether the vehicle is on the road surface inclined across the direction of travel of the vehicle; and

wherein

in order to form the at least one variable corresponding to the deviation between the plurality of identically defined comparison variables for at least a part of the plurality of identically defined comparison variables, a variable corresponding to the deviation between each identically defined comparison variable and the other identically defined comparison variables of the part of the identically defined comparison variables is determined for each of the identically defined comparison variables of the part of the identically defined comparison variables.

8. A device for regulating a motion variable representing a vehicle motion of a vehicle, comprising:

a first apparatus for detecting a plurality of variables corresponding to the vehicle motion, each one of the plurality of variables corresponding to the vehicle motion being different from another one of the plurality of variables corresponding to the vehicle motion;

a second apparatus for determining a plurality of identically defined comparison variables for at least two elements of the first apparatus on the basis of at least the plurality of variables corresponding to the vehicle motion; and

a third apparatus for performing a plurality of plausibility queries at least on the basis of the plurality of identically defined comparison variables in order to perform a determination as to whether the vehicle is located on a road surface inclined transversely to a direction of travel of the vehicle, wherein a result of the determination is taken into account in regulating the motion variable representing the vehicle motion, wherein;

at least one plausibility query is performed in the third apparatus on the basis of the plurality of identically defined comparison variables to determine whether the plurality of identically defined comparison variables is arranged in at least one predetermined arrangement in accordance with values of the plurality of identically defined comparison variables,

at least one of a minimum of the at least one predetermined arrangement corresponds to a cornering on the road surface inclined across the direction of travel of the vehicle,

at least one variable corresponding to a deviation between the plurality of identically defined comparison variables is determined in the third apparatus on the basis of the plurality of identically defined comparison variables,

a variable corresponding to a change over time in a difference formed from a variable detected with the first apparatus corresponding to a transverse acceleration acting on the vehicle and a comparison variable for the transverse acceleration is determined in the third apparatus on the basis of the variable corresponding to the transverse acceleration and the comparison variable,

at least one of a result of a minimum of one plausibility query, the at least one variable corresponding to the deviation between the plurality of identically defined comparison variables, and the variable corresponding to the change over time in the difference formed from the variable corresponding to the transverse acceleration acting on the vehicle and the comparison variable for the transverse acceleration is taken into account in determining whether the vehicle is on the road surface inclined across the direction of travel of the vehicle,

the variable corresponding to the change over time in the difference formed from the variable corresponding to the transverse acceleration acting on the vehicle and the comparison variable for the transverse acceleration is, implemented as a counter,

the counter is incremented when the change over time is greater than a first threshold value,

the counter is decremented when the change over time is smaller than a second threshold value, and

the counter approaches a predetermined value when the difference formed from the variable corresponding to the transverse acceleration acting on the vehicle and the comparison variable for the transverse acceleration remains almost unchanged over time.

9. The device according to claim 8, wherein the predetermined value is 0.

10. A device for regulating a motion variable representing a vehicle motion of a vehicle, comprising:

a first apparatus for detecting a plurality of variables corresponding to the vehicle motion, each one of i-he plurality of variables corresponding to the vehicle motion being different from another one of the plurality of variables corresponding to the vehicle motion;

a second apparatus for determining a plurality of identically defined comparison variables for at least two elements of the first apparatus on the basis of at least the plurality of variables corresponding to the vehicle motion; and

a third apparatus for performing a plurality of plausibility queries at least on the basis of the plurality of identically defined comparison variables in order to perform a determination as to whether the vehicle is located on a road surface inclined transversely to a direction of travel of the vehicle, wherein a result of the determination is taken into account in regulating the motion variable representing the vehicle motion, wherein;

at least one plausibility query is performed in the third apparatus on the basis of the plurality of identically defined comparison variables to determine whether the plurality of identically defined comparison variables is arranged in at least one predetermined arrangement in accordance with values of the plurality of identically defined comparison variables,

at least one of a minimum of the at least one predetermined arrangement corresponds to a cornering on the road surface inclined across the direction of travel of the vehicle,

at least one variable corresponding to a deviation between the plurality of identically defined comparison variables is determined in the third apparatus on the basis of the plurality of identically defined comparison variables,

a variable corresponding to a change over time in a difference formed from a variable detected with the first apparatus corresponding to a transverse acceleration acting on the vehicle and a comparison variable for the transverse acceleration is determined in the third apparatus on the basis of the variable corresponding to the transverse acceleration and the comparison variable, and

at least one of a result of a minimum of one plausibility query, the at least one variable corresponding to the deviation between the plurality of identically defined comparison variables, and the variable corresponding to the change over time in the difference formed from the variable corresponding to the transverse acceleration acting on the vehicle and the comparison variable for the transverse acceleration is taken into account in determining whether the vehicle is on the road surface inclined across the direction of travel of the vehicle; and

wherein

when a status of a counter is greater than a predetermined threshold value, the vehicle is deemed to be located on the road surface inclined across the direction of travel of the vehicle, and

the counter is incremented at least as a function of at least one of the following conditions;

the at least one predetermined arrangement of the plurality of identically defined comparison variables is provided,

the at least one variable corresponding to the deviation between the plurality of identically defined comparison variables is greater than a first threshold value, and

an amount of the variable corresponding to the change over time in the difference formed from the variable corresponding to the transverse acceleration acting on the vehicle and the comparison variable for the transverse acceleration is greater than a second threshold value, and

the counter is decremented at least as a function of at least one of the following conditions;

none of the at least one predetermined arrangement of the plurality of identically defined comparison variables is found,

the at least one variable corresponding to the deviation between the plurality of identically defined comparison variables is smaller than the first threshold value, and

an absolute value of the variable corresponding to the change over time in the difference formed from the variable corresponding to the transverse acceleration acting on the vehicle and the comparison variable for the transverse acceleration is smaller than the second threshold value.

12. A method of regulating a motion variable representing a vehicles motion of a vehicle, comprising the steps of:

detecting a plurality of variables corresponding to the vehicle motion with a first apparatus;

determining a plurality of identically defined comparison variables for at least two elements of the first apparatus on the basis of at least the plurality of variables corresponding to the vehicle motion;

performing a plurality of plausibility queries at least on the basis of the plurality of identically defined comparison variables to determine whether the vehicle is located on a road surface inclined transversely to a direction of travel of the vehicle; and

taking into account the determination whether the vehicle is located on a road surface inclined transversely to a direction of travel of the vehicle in regulating the motion variable representing the vehicle motion.