Device and method for diagnosing brake and drive pull

• US 6,859,714 B2
• Filed: 11/18/2002
• Issued: 02/22/2005
• Est. Priority Date: 11/17/2001
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Burkard, Friedhelm, Landesfeind, Klaus
• Primary Examiner(s): Black, Thomas G.
• Assistant Examiner(s): MANCHO, RONNIE M
• Application Number:
  US10/299,190
• Publication Number:
  US 20030120435A1
• Time in Patent Office: 827 Days
• Field of Search: 701/1, 701/82, 701/83, 701/48, 701 70- 75, 701 78- 80, 303/139, 303/140, 303/146, 303/147
• US Class Current: 701/78
• CPC Class Codes: B60T 13/665 the systems being specially adapted for transferring two or more command signals, e.g. railway systems B60T13/662 takes precedence
• 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 8/1764 Regulation during travel on surface with different coefficients of friction, e.g. between left and right sides, mu-split or between front and rear
• CPC Class Codes: B60T 8/885 using electrical circuitry
• CPC Class Codes: B60W 2050/0052 Filtering, filters
• CPC Class Codes: B60W 2520/28 Wheel speed
• CPC Class Codes: B60W 30/02 Control of vehicle driving stability

Abstract

A device for a vehicle equipped with a wheel slip control system is described as having a determination device for determining first variables, each of which may be assigned to one wheel and/or the associated wheel brake. In addition, it includes a calculation device in which at least one second variable is calculated for at least one wheel axle of the vehicle from the first variables associated with the wheels of this wheel axle, this second variable being a measure of the difference between the first variables associated with this wheel axle. In addition, this device includes an averaging device in which a third variable is determined by averaging over time and/or filtering the at least one second variable, and it includes a comparator device which compares the value of the third variable with a preselectable limit value. The averaging and/or filtering in the averaging device covers such a long period of time that the third variable determined there is a measure of a difference between the values of the first variables associated with this wheel axle from one another which is not due to an intervention by the wheel slip control system, and the device is used to detect a pull brake or a pull drive.

Claims

1. A device for detecting one of a pull brake and a pull drive of a vehicle equipped with a wheel slip control system, comprising:

a determination device for determining first variables, each assignable to one of a wheel and an associated wheel brake;

a calculation device for calculating at least one second variable for at least one wheel axle of the vehicle from a set of the first variables associated with wheels of the at least one wheel axle, the at least one second variable being a measure of a difference between the set of the first variables associated with the at least one wheel axle;

an averaging device for determining a third variable by at least one of averaging over time and filtering the at least one second variable for a period of time such that the third variable determined there is a measure of a difference between values of the set of the first variables associated with the at least one wheel axle, the difference being not due to an intervention by the wheel slip control system; and

a comparator device for comparing a value of the third variable with a preselectable limit value.

2. The device according to claim 1 wherein the first variables include variables pertaining to vehicle dynamics.

3. The device according to claim 2, wherein the first variables represent one of yaw moments assigned to the wheel, wheel braking torques, wheel driving torques, wheel braking forces, wheel driving forces, coefficients of friction, pressures of brake shoes acting on brake disks, and wheel brake pressures.

4. The device according to claim 3, wherein the at least one second variable calculated by the calculation device is a dimensionless variable.

5. A device for detecting one of a pull brake and a pull drive of a vehicle equipped with a wheel slip control system, comprising:

a determination device for determining first variables, each assignable to at least one of a wheel and an associated wheel brake;

an averaging device for determining averaged first variables by at least one of averaging over time and filtering the first variables;

a calculation device for calculating at least one third variable for at least one wheel axle of the vehicle from a set of the averaged first variables associated with wheels of the at least one wheel axle, the at least one third variable being a measure of a difference between the set of the first variables associated with the wheels of the at least one wheel axle; and

a comparator device for comparing a value of the at least one third variable with a preselectable limit value,

wherein the at least one of averaging over time and filtering in the averaging device is for a period of time such that the at least one third variable determined is a measure of the difference between values of the set of the first variables associated with the at least one wheel axle, when the difference is not due to an intervention by the wheel slip control system.

6. A method for detecting one of a pull brake and a pull drive of a vehicle equipped with a wheel slip control system, comprising:

determining first variables assigned to at least one of a wheel and an associated wheel brake;

calculating at least one second variable for at least one wheel axle of the vehicle from a set of the first variables associated with one of wheels and wheel brakes of the at least one wheel axle, the at least one second variable being a measure of a difference between values of the set of the first variables associated with the at least one wheel axle;

determining a third variable by one of averaging over time and filtering the at least one second variable for a period of time such that there is a measure of a difference between the values of the set of the first variables associated with the at least one wheel axle when the difference is not due to an intervention by the wheel slip control system; and

comparing a value of the third variable with a preselectable limit value.