Apparatus and method for stabilizing a vehicle combination made up of a tractor vehicle and a trailer or semitrailer

• US 6,450,019 B1
• Filed: 12/28/1999
• Issued: 09/17/2002
• Est. Priority Date: 12/28/1998
• Status: Expired due to Fees

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Kühnle, Uwe, Faye, Ian, Wetzel, Gabriel, Leimbach, Klaus-Dieter
• Primary Examiner(s): MCCALL, ERIC SCOTT
• Application Number:
  US09/473,831
• Time in Patent Office: 994 Days
• Field of Search: 73/17.5, 731/21, 731/28, 731/29, 340/431, 340/453, 701/70, 701/71, 701/78, 701/82, 701/83
• US Class Current: 73/129
• CPC Class Codes: B60T 2230/06 Tractor-trailer swaying
• CPC Class Codes: B60T 8/1708 for lorries or tractor-trailer combinations
• 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

An apparatus for stabilizing a vehicle combination made up of a tractor vehicle and a trailer or semitrailer. For this purpose, the apparatus contains a first determination arrangement used to determine an inflection angle variable that describes the angle between the longitudinal axis of the tractor vehicle and the longitudinal axis of the trailer or semitrailer. The apparatus also contains a processing arrangement with which a comparison is performed as a function of the inflection angle variable and a comparison variable. The apparatus contains a first actuator arrangement associated with the trailer or semitrailer and with which a brake pressure can be established at at least one wheel of the trailer or semitrailer. The first actuator arrangement is actuated at least as a function of the comparison performed with the processing arrangement. The apparatus furthermore contains a second determination arrangement with which the comparison variable is determined as a function of the velocity of the tractor vehicle and/or as a function of whether stability interventions are being performed for the tractor vehicle.

Claims

1. An apparatus for stabilizing a vehicle combination that includes a tractor vehicle and one of a trailer and a semitrailer, comprising:

a first determination arrangement for determining an inflection angle variable corresponding to an angle between an axis oriented in a longitudinal direction of the tractor vehicle and an axis oriented in a longitudinal direction of the one of the trailer and the semitrailer;

a second determination arrangement for determining a comparison variable as a function of at least one of a velocity variable corresponding to a longitudinal velocity of the tractor vehicle and a determination of whether stability interventions are being performed for the tractor vehicle;

a processing arrangement for performing a comparison as a function of the inflection angle variable and the comparison variable; and

a first actuator arrangement associated with the one of the trailer and the semitrailer and for establishing a brake pressure at a least one wheel of the one of the trailer and the semitrailer, the first actuator arrangement being actuated at least as a function of the comparison performed by the processing arrangement.

2. The apparatus according to claim 1, wherein the longitudinal direction of the tractor vehicle corresponds to longitudinal axis of the tractor vehicle.

3. The apparatus according to claim 1, wherein the longitudinal direction of the one of the trailer and the semitrailer corresponds to a longitudinal axis of the one of the trailer and the semitrailer.

4. The apparatus according to claim 1, further comprising:

a third determination arrangement for determining at least one steering angle variable corresponding to a steering angle established for the tractor vehicle, wherein the comparison variable is determined as a function of the steering angle variable.

5. The apparatus according to claim 1, further comprising:

a second actuator arrangement associated with the tractor vehicle and for performing the stability interventions for the tractor vehicle, wherein the stability interventions are interventions on at least one of brakes of the tractor vehicle, on a propulsion system, and on a retarder.

6. The apparatus according to claim 5, wherein:

the processing arrangement generates variables for activating the second actuator arrangement,

the processing arrangement generates a variable indicating that the stability interventions are being performed for the tractor vehicle, and

one of the variables for activating the second actuator arrangement and the variable indicating that the stability interventions are being performed for the tractor vehicle is supplied to the second determination arrangement in order to detect whether the stability interventions are being performed for the tractor vehicle.

7. The apparatus according to claim 1, wherein the stability interventions for the tractor vehicle are performed at least as a function of a variable corresponding to a transverse dynamics of the tractor vehicle.

8. The apparatus according to claim 7, wherein the variable corresponding to the transverse dynamics of the tractor vehicle corresponds to one of a yaw rate and a transverse acceleration of the tractor vehicle.

9. The apparatus according to claim 1, wherein an actuation of the first actuator arrangement is performed if the inflection angle variable is greater than the comparison variable.

10. The apparatus according to claim 1, wherein:

the comparison variable is one of a predefined variable and a variable determined in accordance with a first vehicle model, and

the defined comparison variable is adapted to an existing vehicle combination situation as a function of at least one of the velocity variable and of whether the stability interventions are being performed for the tractor vehicle.

11. The apparatus according to claim 10, wherein a value of the defined comparison variable is decreased in accordance with at least one of the following conditions:

as a value of the velocity variable becomes greater, and

in a presence of the stability interventions performed for the tractor vehicle.

12. The apparatus according to claim 11, wherein the value of the defined comparison variable is maintained for a specific time period after the value of the defined comparison variable has been decreased.

13. The apparatus according to claim 1, wherein a value of the comparison variable is read out from a characteristics diagram as a function of at least one of a value of the velocity variable, and at least one of a type and an intensity of the stability interventions performed for the tractor vehicle.

14. The apparatus according to claim 13, wherein the value of the comparison variable decreases in accordance with at least one of the following conditions:

as the value of the velocity variable becomes greater, and

in a presence of the stability interventions performed for the tractor vehicle.

15. The apparatus according to claim 1, wherein one of:

the first determination arrangement is configured as one of a sensor arrangement, optical sensors, ultrasonic sensors, and radar sensors, the sensor arrangement being arranged as a potentiometer in effective connection with the tractor vehicle and the semitrailer, and

the inflection angle variable is determined in the first determination arrangement in accordance with a second vehicle model.

16. A method for stabilizing a vehicle combination that includes a tractor vehicle and one of a trailer and a semitrailer, comprising the steps of:

determining an inflection angle variable describing an angle between an axis oriented in a longitudinal direction of the tractor vehicle and an axis oriented in a longitudinal direction of the one of the trailer and the semitrailer;

determining a comparison variable as a function of at least one of a velocity variable that describes a longitudinal velocity of the tractor vehicle and of whether stability interventions are being performed for the tractor vehicle;

causing a processing arrangement to perform a comparison as a function of the inflection angle variable and the comparison variable; and

actuating a first actuator arrangement associated with the one of the trailer and the semitrailer to establish a brake pressure at at least one wheel of the one of the trailer and the semitrailer, the first actuator arrangement being actuated at least as a function of the comparison performed by the processing arrangement.

17. The method according to claim 16, wherein the longitudinal direction of the tractor vehicle corresponds to longitudinal axis of the tractor vehicle.

18. The method according to claim 16, wherein the longitudinal direction of the one of the trailer and the semitrailer corresponds to a longitudinal axis of the one of the trailer and the semitrailer.