Method and device for identifying a rolling motion in a vehicle
First Claim
1. A device for detecting a pendulum motion of a vehicle, comprising:
- at least one first ascertainment means for ascertaining at least one lateral-motion-dynamics quantity that represents a lateral motion dynamics of the vehicle;
second ascertainment means for ascertaining a speed quantity that describes a vehicular speed;
third ascertainment means for determining, as a function of the at least one lateral-motion-dynamics quantity and the speed quantity, whether a pendulum motion of the vehicle exists, wherein, in determining whether a pendulum motion of the vehicle exists, it is checked whether the at least one lateral-motion-dynamics quantity is greater than an associated first threshold value and it is checked whether the speed quantity is greater than an associated second threshold value, a pendulum motion of the vehicle existing when the at least one quantity is greater than the first threshold value, and when the speed quantity is greater than the second threshold value; and
at least one of, a first detection means for detecting a lateral acceleration acting on the vehicle, one of the at least one first ascertainment means ascertaining one of the at least one lateral-motion-dynamics quantity as a function of the lateral acceleration of the vehicle; and
a second detection means for detecting a yaw rate of the vehicle, one of the at least one first ascertainment means ascertaining one of the at least one lateral-motion-dynamics quantities as a function of the yaw rate of the vehicle;
wherein the at least one first ascertainment means includes precisely two first ascertainment means, the two first ascertainment means being one first detection means and one second detection means.
1 Assignment
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Accused Products
Abstract
A device for detecting a pendulum motion of a vehicle. The device includes at least one first ascertainment arrangement, with which a lateral-motion-dynamics quantity is ascertained that represents the lateral motion dynamics of the vehicle. In addition, the device includes a second ascertainment arrangement with which a speed quantity is ascertained that describes the vehicular speed. With the aid of a third ascertainment arrangement it is ascertained, as a function of the at least one lateral-motion-dynamics quantity and the speed quantity, whether a pendulum motion of the vehicle exists. For that purpose, it is at least checked whether the at least one lateral-motion-dynamics quantity is greater than an associated threshold value and the speed quantity is greater than an associated threshold value. A pendulum motion of the vehicle exists when the lateral-motion-dynamics quantity is greater than the associated threshold value and when the speed quantity is greater than the associated threshold value.
60 Citations
21 Claims
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1. A device for detecting a pendulum motion of a vehicle, comprising:
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at least one first ascertainment means for ascertaining at least one lateral-motion-dynamics quantity that represents a lateral motion dynamics of the vehicle;
second ascertainment means for ascertaining a speed quantity that describes a vehicular speed;
third ascertainment means for determining, as a function of the at least one lateral-motion-dynamics quantity and the speed quantity, whether a pendulum motion of the vehicle exists, wherein, in determining whether a pendulum motion of the vehicle exists, it is checked whether the at least one lateral-motion-dynamics quantity is greater than an associated first threshold value and it is checked whether the speed quantity is greater than an associated second threshold value, a pendulum motion of the vehicle existing when the at least one quantity is greater than the first threshold value, and when the speed quantity is greater than the second threshold value; and
at least one of, a first detection means for detecting a lateral acceleration acting on the vehicle, one of the at least one first ascertainment means ascertaining one of the at least one lateral-motion-dynamics quantity as a function of the lateral acceleration of the vehicle; and
a second detection means for detecting a yaw rate of the vehicle, one of the at least one first ascertainment means ascertaining one of the at least one lateral-motion-dynamics quantities as a function of the yaw rate of the vehicle;
wherein the at least one first ascertainment means includes precisely two first ascertainment means, the two first ascertainment means being one first detection means and one second detection means. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 16)
wherein at least one of the first and second thresholds is dependent upon whether a pendulum motion was detected, a value of the at least one of the first and second thresholds being smaller when a pendulum motion is detected than when no pendulum motion is detected. -
4. The device as recited in claim 1, wherein the at least one first ascertainment means includes a first filtering means with which components that lie in a predetermined frequency range characteristic for pendulum motion of the vehicle are filtered out of an input quantity supplied to the first ascertainment means for ascertaining the at least one lateral-motion-dynamics quantity, the at least one lateral-motion-dynamics quantity being ascertained as a function of the filtered-out components.
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5. The device as recited in claim 4, wherein the filtering means includes a band-pass filter.
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6. The device as recited in claim 1, further comprising:
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difference ascertainment means with which a difference is ascertained between a yaw-rate setpoint value and the yaw rate of the vehicle;
wherein one of the at least one lateral-motion-dynamics quantity is ascertained as a function of the difference.
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7. The device as recited in claim 1, further comprising:
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actuating means for influencing a torque supplied by one of an engine and brakes allocated to wheels of the vehicle;
wherein, in response to a detected pendulum motion of the vehicle, at least one of the following occurs;
the actuating means for influencing the torque supplied by the engine and the brakes allocated to the wheels of the vehicle are driven to reduce the vehicular speed by activating the brakes uniformly; and
the brakes allocated to the wheels of the vehicle are activated individually in such a way that a yawing moment is thereby generated which acts on the vehicle and counteracts the pendulum motion.
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8. The device as recited in claim 1, wherein the device is adapted to be used in an arrangement for controlling a quantity describing the operating dynamics of the vehicle.
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9. The device as recited in claim 8, wherein the quantity describing the operating dynamics of the vehicle is a yaw rate of the vehicle.
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10. The device as recited in claim 1, wherein the vehicle is a vehicle combination made up of a towing vehicle and at least one of a trailer and a semitrailer, the pendulum motion of the at least one of the trailer and the semitrailer being detected by the device.
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11. The device as recited in claim 10, wherein all of at least one of detection means and sensor means used for detecting the pendulum motion are allocated to the towing vehicle.
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12. The device as recited in claim 11, further comprising:
coupling detection means used to determine whether at least one of a trailer and a semitrailer is coupled to the towing vehicle, the detection of a pendulum motion being performed when it is determined that at least one of a trailer and a semitrailer is coupled to the towing vehicle.
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13. The device as recited in claim 12, wherein the coupling detection means includes an electrical contact which is checked to determine whether at least one of a trailer and a semitrailer is coupled to the towing vehicle.
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16. The device as recited in claim 13, wherein the second filtering means includes a low-pass filter.
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14. A device for detecting a pendulum motion of a vehicle, comprising:
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at least one first ascertainment means for ascertaining at least one lateral-motion-dynamics quantity that represents a lateral motion dynamics of the vehicle;
second ascertainment means for ascertaining a speed quantity that describes a vehicular speed;
third ascertainment means for determining, as a function of the at least one lateral-motion-dynamics quantity and the speed quantity, whether a pendulum motion of the vehicle exists, wherein, in determining whether a pendulum motion of the vehicle exists, it is checked whether the at least one lateral-motion-dynamics quantity is greater than an associated first threshold value and it is checked whether the speed quantity is greater than an associated second threshold value, a pendulum motion of the vehicle existing when the at least one lateral-motion-dynamics quantity is greater than the first threshold value, and when the speed quantity is greater than the second threshold value; and
fourth ascertainment means with which a steering quantity is ascertained that represents a steering movement carried out by a driver, the fourth ascertainment means including;
an integrating means to ascertain the steering quantity as a function of steering angles adjusted by the driver over a predetermined period of time;
a masking means having a suitably selected dead zone, the masking means masking out small steering angles;
a high-pass filter, the high pass filter filtering out steering angles resulting from steering-angle changes proceeding slowly over time;
wherein the third ascertainment means determines whether a pendulum motion of the vehicle exists as a function of the steering quantity, a pendulum motion not being determined when the value of the steering quantity is greater than a third threshold value.
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15. A device for detecting a pendulum motion of a vehicle, comprising:
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at least one first ascertainment means for ascertaining at least one lateral-motion-dynamics quantity that represents a lateral motion dynamics of the vehicle;
second ascertainment means for ascertaining a speed quantity that describes a vehicular speed; and
third ascertainment means for determining, as a function of the at least one lateral-motion-dynamics quantity and the speed quantity, whether a pendulum motion of the vehicle exists, wherein, in determining whether a pendulum motion of the vehicle exists, it is checked whether the at least one lateral-motion-dynamics quantity is greater than an associated first threshold value and it is checked whether the speed quantity is greater than an associated second threshold value, a pendulum motion of the vehicle existing when the at least one lateral-motion-dynamics quantity is greater than the first threshold value, and when the speed quantity is greater than the second threshold value, wherein;
the at least one first ascertainment means includes a first filtering means with which components that lie in a predetermined frequency range characteristic for pendulum motion of the vehicle are filtered out of an input quantity supplied to the first ascertainment means for ascertaining the at least one lateral-motion-dynamics quantity, the at least one lateral-motion-dynamics quantity being ascertained as a function of the filtered-out components, and the at least one first ascertainment means includes second filtering means for forming an average value, the at least one lateral-motion-dynamics quantity being ascertained as a function of filtered-out components by averaging, the at least one first ascertainment means further including an absolute-value generation means with which absolute values of the filtered-out components are ascertained prior to forming the average value.
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17. A device for detecting a pendulum motion of a vehicle, comprising:
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at least one first ascertainment means for ascertaining at least one lateral-motion-dynamics quantity that represents a lateral motion dynamics of the vehicle;
second ascertainment means for ascertaining a speed quantity that describes a vehicular speed; and
third ascertainment means for determining, as a function of the at least one lateral-motion-dynamics quantity and the speed quantity, whether a pendulum motion of the vehicle exists, wherein, in determining whether a pendulum motion of the vehicle exists, it is checked whether the at least one lateral-motion-dynamics quantity is greater than an associated first threshold value and it is checked whether the speed quantity is greater than an associated second threshold value, a pendulum motion of the vehicle existing when the at least one lateral-motion-dynamics quantity is greater than the first threshold value, and when the speed quantity is greater than the second threshold value, wherein;
the at least one first ascertainment means includes a first filtering means with which components that lie in a predetermined frequency range characteristic for pendulum motion of the vehicle are filtered out of an input quantity supplied to the first ascertainment means for ascertaining the at least one lateral-motion-dynamics quantity, the at least one lateral-motion-dynamics quantity being ascertained as a function of the filtered-out components; and
the at least one first ascertainment means includes at least one of;
first means with which, as a function of the filtered-out components, an amplitude quantity is ascertained which represents an amplitude of the input quantity supplied to the first ascertainment means, this amplitude quantity corresponding to the at least one the lateral-motion-dynamics quantity, and second means with which, as a function of the filtered-out components, an interference quantity is ascertained that represents components of the input quantity supplied to the first ascertainment which are independent of the pendulum motion of the vehicle to be ascertained, the ascertainment taking place in the third ascertainment means is furthermore carried out as a function of the interference quantity. - View Dependent Claims (18, 19, 20)
the first means include signal-generating means with which two signals are generated that have the same amplitude and are shifted by a predefined phase, the first means also include demodulation means with which two demodulated signals are generated as a function of the filtered-out components and the two signals generated by the signal-generating means, the first means further including filtering means with which the demodulated signals are filtered, the amplitude quantity being ascertained as a function of the filtered, demodulated signals; and
the second means include modulation means, with which, as a function of the two filtered, demodulated signals and the two signals generated by the signal-generating means, two modulated signals are generated, the second means also including addition means to which the two modulated signals are supplied, the second means also including downstream weighting means, a quantity representing the pendulum motion of the vehicle being ascertained using the addition means and the weighting means, the quantity being free of interference effects, the second means further including subtraction means with which, as a function of the filtered-out components and the quantity, a second quantity is determined from which the interference quantity is ascertained by absolute-value generation and filtering using a low-pass filter.
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20. The device as recited in claim 19, wherein the predefined phase is 90 degrees, the demodulation means are multiplier means, the filtering means are low-pass filters and the modulation means are multiplier means.
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21. A method for detecting a pendulum motion of a vehicle, comprising the steps of:
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determining at least one lateral-motion-dynamics quantity which represents lateral motion dynamics of the vehicle;
determining a speed quantity which describes a vehicular speed;
determining a steering quantity that represents a steering movement carried out by a driver;
ascertaining, as a function of the at least one lateral-motion-dynamics quantity, the speed quantity and the steering quantity, whether a pendulum motion of the vehicle exists;
checking whether the at least one lateral-motion-dynamics quantity is greater than an associated first threshold value; and
checking whether the speed quantity is greater than an associated second threshold value;
wherein a pendulum motion of the vehicle exists when the at least one lateral-motion-dynamics quantity is greater than the first threshold value, and when the speed quantity is greater than the second threshold value; and
wherein a pendulum motion does not exist when a value of the steering quantity is greater than a third threshold value.
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Specification