Method and device for regulating braking effect

• US 6,595,601 B2
• Filed: 02/05/2002
• Issued: 07/22/2003
• Est. Priority Date: 12/30/1999
• Status: Expired due to Term

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Schmitt, Johannes, Sauter, Thomas
• Primary Examiner(s): Schwartz, Christopher P.
• Application Number:
  US09/914,607
• Publication Number:
  US 20020135228A1
• Time in Patent Office: 532 Days
• Field of Search: 303/140, 303/142, 303/146, 701/70, 701/72
• US Class Current: 303/146
• CPC Class Codes: B60T 8/175 Brake regulation specially adapted to prevent excessive wheel spin during vehicle acceleration, e.g. for traction control safety devices for propulsion unit control responsive to, or preventing, skidding of wheels B60K28/16
• 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 method for the open-loop or closed-loop control of the braking action at at least one wheel of a vehicle. In this method, a transverse-dynamics quantity is ascertained which describes the transverse dynamics of the vehicle. As a function of a vehicle-dynamics quantity which describes the vehicle dynamics, or a wheel-dynamics quantity which describes the wheel dynamics of at least one wheel, it is determined whether a driver-independent braking intervention is necessary. In the event that a driver-independent braking intervention is necessary, a pulse-shaped signal is determined for triggering the actuators assigned to at least one wheel. The first pulse of the pulse-shaped signal is influenced in its time duration as a function of the transverse-dynamics quantity.

Claims

1. A method for performing one of an open-loop control and a closed-loop control of a braking action at at least one wheel of a motor vehicle, comprising the steps of:

ascertaining a transverse-dynamics quantity that describes transverse dynamics of the motor vehicle;

determining whether a driver-independent braking intervention is necessary as a function of one of a vehicle-dynamics quantity that describes vehicle dynamics and a wheel-dynamics quantity that describes wheel dynamics of the at least one wheel;

if the driver-independent braking intervention is necessary, determining a pulse-shaped signal for triggering actuators, assigned to the at least one wheel, for adjusting the braking action at the at least one wheel; and

influencing a first pulse of the pulse-shaped signal in a time duration thereof as a function of the transverse-dynamics quantity.

2. The method according to claim 1, wherein:

in order to determine the transverse-dynamics quantity, one of a transverse force acting on the motor vehicle and a yawing of the motor vehicle is detected.

3. The method according to claim 2, wherein:

the transverse force includes a transverse acceleration acting on the motor vehicle.

4. The method according to claim 2, wherein:

the yawing of the motor vehicle includes a yaw velocity of the motor vehicle.

5. The method according to claim 4, further comprising a performance of at least one of the steps of:

causing a transverse-acceleration sensor to detect the transverse force acting on the motor vehicle,

causing a yaw-rate sensor to detect the yaw velocity of the motor vehicle, and

determining at least one of the transverse force acting on the motor vehicle and the yaw velocity as a function of detected wheel speeds.

6. The method according to claim 1, wherein:

the vehicle-dynamics quantity represents at least one of a transverse force acting on the motor vehicle and a yawing of the motor vehicle, and

the wheel-dynamics quantity represents at least one of a wheel slip, a wheel acceleration, and a wheel deceleration of the at least one wheel of the motor vehicle.

7. The method according to claim 1, further comprising the step of:

performing a modulation on the pulse-shaped signal to produce a pulse-width-modulated signal, wherein;

a degree of actuation of a triggered one of the actuators is determined by the modulation.

8. The method according to claim 1, wherein:

the first pulse of the pulse-shaped signal is influenced in the time duration thereof as a function of the transverse-dynamics quantity such that the first pulse is prolonged as a transverse movement of the motor vehicle increases.

9. The method according to claim 1, further comprising the steps of:

hydraulically applying the braking action;

determining the pulse-shaped signal as a function of at least two different selectable determination modes that are based on at least two different hydraulic models; and

selecting the at least two different selectable determination modes as a function of the transverse-dynamics quantity such that the first pulse of the pulse-shaped signal is influenced in the time duration.

10. A device for achieving one of an open-loop control and a closed-loop control of a braking action at at least one wheel of a motor vehicle, comprising:

an arrangement for ascertaining a transverse-dynamics quantity that describes transverse dynamics of the motor vehicle;

an arrangement for determining whether a driver-independent braking intervention is necessary as a function of one of a vehicle-dynamics quantity that describes vehicle dynamics and a wheel-dynamics quantity that describes wheel dynamics of the at least one wheel;

an arrangement for, if the driver-independent braking intervention is necessary, determining a pulse-shaped for triggering actuators, assigned to the at least one wheel, for adjusting the braking action at the at least one wheel; and

an arrangement for influencing a first pulse of the pulse-shaped signal in a time duration thereof as a function of the transverse dynamic quantity.

11. The device according to claim 10, wherein:

the pulse-shaped signal is modulated to produce a pulse-width-modulated signal, and

a degree of actuation of a triggered one of the actuators is determined by the modulation.

12. The device according to claim 10, wherein:

the first pulse of the pulse-shaped signal is influenced in the time duration thereof as a function of the transverse-dynamics quantity such that the first pulse is prolonged as a transverse movement of the motor vehicle increases.

13. The device according to claim 10, further comprising:

one of a hydraulic braking system, an electrohydraulic braking system, a pneumatic braking system, an electropneumatic braking system, and an electromechanical braking system to apply the braking action.