Method and device for stabilizing a vehicle

• US 6,523,911 B1
• Filed: 04/23/2001
• Issued: 02/25/2003
• Est. Priority Date: 06/30/1999
• Status: Expired due to Term

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Rupp, Peter, Zoebele, Andreas
• Primary Examiner(s): Schwartz, Christopher P.
• Assistant Examiner(s): NGUYEN, XUAN LAN T
• Application Number:
  US09/763,273
• Time in Patent Office: 673 Days
• Field of Search: 303/7, 303/123, 303/147, 303/166, 303/9.67, 303/9.62, 188/112.A, 701/72, 280/432, 280/455.1, 180/197
• US Class Current: 303/7
• CPC Class Codes: B60T 2230/03 Overturn, rollover
• CPC Class Codes: B60T 2230/06 Tractor-trailer swaying
• CPC Class Codes: B60T 7/20 specially for trailers, e.g. in case of uncoupling of or overrunning by trailer inertia-actuated overrun brakes B60T13/08
• 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
• CPC Class Codes: B60T 8/248 Trailer sway, e.g. for preventing jackknifing
• CPC Class Codes: B60T 8/323 Systems specially adapted for tractor-trailer combinations
• CPC Class Codes: B62D 37/00 Stabilising vehicle bodies without controlling suspension arrangements
• CPC Class Codes: B62D 53/0871 with stabilising means, e.g. to prevent jack-knifing, pitching, rolling, buck jumping stabilising in general B62D37/00; tractors B62D49/08
• CPC Class Codes: B62D 6/04 responsive only to forces disturbing the intended course of the vehicle, e.g. forces acting transversely to the direction of vehicle travel
• CPC Class Codes: B62D 7/159 characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition

Abstract

A method and a device for stabilizing a road vehicle, particularly a passenger car, having a trailer pulled by the road vehicle, the road vehicle being monitored with respect to snaking movements, and upon detection of a snaking movement, a yaw moment that is essentially in phase opposition to the snaking movement being applied automatically to the road vehicle.

Claims

1. A method for stabilizing a road vehicle (1), particularly a passenger car, having a trailer (2) pulled by the road vehicle (1), characterized in that the road vehicle (1) is monitored with respect to snaking movements, and that when a snaking movement is detected, an essentially periodic yaw moment that is essentially in phase opposition to the snaking movement is applied automatically to the road vehicle (1).

2. The method as recited in claim 1, characterized in that the yaw moment is applied by automatic braking of the road vehicle (1), different braking forces being applied to both sides of the road vehicle (1).

3. The method as recited in claim 2, characterized in that the essentially periodic yaw moment is applied by automatic one-sided braking of the vehicle.

4. The method as recited in claim 1, characterized in that the essentially periodic yaw moment is only applied when a lateral acceleration and/or a yaw rate is present which is not attributable to steering movements by the driver.

5. The method as recited in claim 1, the trailer (2) having an inertia braking system, characterized in that the road vehicle (1) is additionally automatically decelerated for a short duration in such a way that the inertia braking system of the trailer (2) is triggered.

6. The method as recited in claim 1, the trailer (2) having an inertia braking system, characterized in that, after applying the yaw moment, the road vehicle (1) is automatically decelerated for a short duration in such a way that the inertia braking system of the trailer (2) is triggered.

7. The method as recited in claim 1, characterized in that the speed of the road vehicle (1) is reduced such that it is less than a critical speed.

8. The method as recited in claim 1, characterized in that the road vehicle (1) is automatically accelerated for a short duration.

9. A method for stabilizing a road vehicle (1), particularly a passenger car, having a trailer (2) pulled by the road vehicle (1), the trailer (2) having an inertia braking system,

characterized in that the road vehicle (1) is monitored with respect to snaking movements, and that when a snaking movement is detected, an essentially periodic yaw moment that is essentially in phase opposition to the snaking movement is applied automatically to the road vehicle (1);

characterized in that the road vehicle (1) is additionally automatically decelerated for a short duration in such a way that the inertia braking system of the trailer (2) is triggered; and

characterized in that the automatic, short-duration deceleration for triggering the inertia braking system of the trailer (2) is implemented by reducing the drive torque of an engine propelling the road vehicle (1).

10. The method as recited in claim 9, characterized in that the short-duration automatic deceleration of the road vehicle (1) is carried out shortly—

shifted by the amount of a fixed phase—

prior to or after a zero crossing of the snaking movement.

11. The method as recited in claim 9,

characterized in that the short-duration automatic deceleration of the road vehicle (1) is only carried out when the application of the yaw moment has resulted in a reduction of the snaking movement.

12. A stabilization device for stabilizing a road vehicle (1), particularly a passenger car, having a trailer (2), characterized in that the stabilization device has means (20) for detecting a snaking movement of the road vehicle (1), as well as for applying an essentially periodic yaw moment to the road vehicle (1) upon detection of a snaking movement, the applied yaw moment being essentially in phase opposition to the snaking movement.

13. A method for stabilizing a road vehicle having a trailer pulled by the road vehicle, comprising the steps of:

monitoring the road vehicle with respect to snaking movements; and

when a snaking movement is detected, automatically applying to the road vehicle an essentially periodic yaw moment that is essentially in phase opposition to the snaking movement.

14. The method as recited in claim 13, wherein the road vehicle includes a passenger car.

15. The method as recited in claim 13, wherein the yaw moment applying step includes the substep of applying the yaw moment by automatically braking the road vehicle with different braking forces applied to both sides of the road vehicle.

16. The method as recited in claim 15, wherein the applying step includes the substep of applying the essentially periodic yaw moment is by automatic one-sided braking of the road vehicle.

17. The method as recited in claim 13, wherein the essentially periodic yaw moment is only applied in the applying step when a lateral acceleration and/or a yaw rate is present that is not attributable to steering movements by the driver.

18. The method as recited in claim 13, wherein the trailer includes an inertia braking system, the method further comprising the step of automatically decelerating the road vehicle for a short duration so that the inertia braking system of the trailer is triggered.

19. The method as recited in claim 13, wherein the trailer includes an inertia braking system, the method further comprising the step of automatically decelerating the road vehicle for a short duration after the applying step so that the inertia braking system of the trailer is triggered.

20. The method as recited in claim 18, wherein the decelerating step includes the substep of reducing a drive torque of an engine propelling the road vehicle.

21. The method as recited in claim 20, wherein the decelerating step is performed one of prior to and after a zero crossing of the snaking movement and shifted by an amount of a fixed phase.

22. The method as recited in claim 20, wherein the decelerating step is performed only when an application of the yaw moment results in a reduction of the snaking movement.

23. The method as recited in claim 13, further comprising the step of reducing a speed of the road vehicle to less than a critical speed.

24. The method as recited claim 13, further comprising the step of automatically accelerating the road vehicle for a short duration.

25. A stabilization device for stabilizing a road vehicle having a trailer, comprising:

a first arrangement configured to detect a snaking movement of the road vehicle; and

a second arrangement configured to apply an essentially periodic yaw moment to the road vehicle essentially in phase opposition to the snaking movement upon detection of the snaking movement.

26. The device according to claim 25, wherein the road vehicle includes a passenger car.