Method and system for controlling the performance of a motor vehicle

• US 6,862,512 B2
• Filed: 04/26/2002
• Issued: 03/01/2005
• Est. Priority Date: 05/10/2001
• Status: Expired due to Fees

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Arndt, Dietmar, Hillenbrand, Stefan, Wahl, Anja
• Primary Examiner(s): Hernandez, Olga
• Application Number:
  US10/332,670
• Publication Number:
  US 20040030479A1
• Time in Patent Office: 1,040 Days
• Field of Search: 701/70, 701/74, 701/75, 701/41, 180/197, 180/252, 180/6.2
• US Class Current: 701/70
• CPC Class Codes: B60T 2240/03 Tire sensors
• CPC Class Codes: B60T 8/17551 determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters

Abstract

A method for controlling the handling characteristics of a vehicle, including the steps of ascertaining setpoint values that are associated with specific controlled variables, and measuring forces at wheels of the vehicle, the controlled variables being forces or torques, actual values associated with the setpoint values being calculated from the forces measured at the wheels of the vehicle, and the ascertained setpoint values and the calculated actual values being used as input values of a control system. Also described is a system for controlling the handling characteristics of a vehicle.

Claims

1. A method for controlling a handling characteristic of a vehicle, comprising:

ascertaining setpoint values that are assigned to controlled variables; and

measuring forces at wheels of the vehicle, wherein;

the controlled variables include at least one of a lateral force at a center of gravity of the vehicle and a torque about a vertical axis of the vehicle,

actual values associated with the setpoint values are calculated from the forces measured at the wheels of the vehicle, and

the ascertained setpoint values and the calculated actual values are used as input values of a control system.

2. The method as recited in claim 1, wherein:

the setpoint values take into account a request by a driver to one of maintain and modify a current vehicle state.

3. The method as recited in claim 1, wherein:

one of the setpoint values corresponds to that of the lateral force and is determined according to the following equation;

$F_{y,\mathrm{setpoint}}=m·<br><br>\frac{v^2}{l}<br><br>\mathrm{\delta <br><br>}<br><br>\frac{1}{1+{\left(\frac{v}{v_{\mathrm{CH}}}\right)}^2},$

where

F_y,setpoint=setpoint value of the lateral force at the center of gravity of the vehicle;

m=vehicle mass

v=vehicle speed;

l=wheelbase;

δ

=steering angle at front wheels;

v_CH=characteristic speed.

4. The method as recited in claim 1, wherein:

one of the setpoint values corresponding to that of the torque about a vertical axis of the vehicle is determined according to the following equation;

$M_{Z,\mathrm{setpoint}}=J_Z·<br><br>\frac{v}{l}<br><br>\stackrel{.}{\mathrm{\delta <br><br>}}<br><br>\frac{1}{1+{\left(\frac{v}{v_{\mathrm{CH}}}\right)}^2},$

where

M_z,setpoint=setpoint value of the torque about the vertical axis of the vehicle;

m=vehicle mass;

v=vehicle speed;

l=wheelbase;

{dot over (δ

)}=steering angle rate at the front wheels;

v_CH=characteristic speed.

5. The method as recited in claim 3, wherein:

an actual value of the lateral force is determined according to the following equation;

F_y=(F_y1+F_y2)cosδ

+F_y3+F_y4,

where

F_y=actual value of the lateral force at the center of gravity of the vehicle;

Fyi=wheel force measured at wheel i

δ

=steering angle at front wheels (i=1,

     2).

6. The method as recited in claim 4, wherein:

an actual value of the torque about the vertical axis of the vehicle is determined according to the following equation;

$M_z=\left(F_{y<br><br>\text{\hspace{1em}<br><br>}<br><br>1}+F_{y<br><br>\text{\hspace{1em}<br><br>}<br><br>2}\right)<br><br>1_v<br><br>\cos <br><br>\text{\hspace{1em}<br><br>}<br><br>\mathrm{\delta <br><br>}-\left(F_{\mathrm{y3}}+F_{y<br><br>\text{\hspace{1em}<br><br>}<br><br>4}\right)<br><br>1_H+\left(F_{y<br><br>\text{\hspace{1em}<br><br>}<br><br>1}-F_{y<br><br>\text{\hspace{1em}<br><br>}<br><br>2}\right)<br><br>\frac{S_v}{2}<br><br>\sin <br><br>\text{\hspace{1em}<br><br>}<br><br>\mathrm{\delta <br><br>},$

where

F_y=actual value of the lateral force at the center of gravity of the vehicle;

Fyi=wheel force measured at wheel i;

δ

=steering angle at front wheels (i=1,

     2);

1_v=distance of front wheels (i=1,

     2) from center of gravity;

1_H distance of rear wheels (i=3,

     4) from center of gravity,

S_v=track at front axle (i=I,

     2).

7. The method as recited in claim 1, wherein:

the control system performs a control via a braking intervention.

8. The method as recited in claim 1, wherein:

the control system performs a control via a steering intervention.

9. The method as recited in claim 1, wherein:

the control system performs a control by influencing a vehicle speed.

10. The method as recited in claim 1, further comprising:

causing an estimator to generate, from the input values, output values that are taken into account in calculating at least one of the actual values and the setpoint values.

11. The method as recited in claim 1, further comprising:

causing tire sensors to measure the forces at the wheels of the vehicle.

12. The method as recited in claim 1, further comprising:

causing wheel bearing sensors to measure the forces at the wheels of the vehicle.

13. A system for controlling a handling characteristic of a vehicle, comprising:

an arrangement for ascertaining setpoint values that are assigned to controlled variables; and

an arrangement for measuring forces at wheels of the vehicle, wherein;

the controlled variables include at least one of a lateral force at a center of gravity of the vehicle and a torque about a vertical axis of the vehicle,

actual values associated with the setpoint values are calculated from the forces measured at the wheels of the vehicle, and

the ascertained setpoint values and the calculated actual values are used as input values of a control system.

14. The system as recited in claim 13, wherein:

the setpoint values take into account a request by a driver to one of maintain and modify a current vehicle state.

15. The system as recited in claim 13, wherein:

one of the setpoint values corresponds to that of the lateral force and is determined according to the following equation;

$F_{y,\mathrm{setpoint}}=m·<br><br>\frac{v^2}{l}<br><br>\mathrm{\delta <br><br>}<br><br>\frac{1}{1+{\left(\frac{v}{v_{\mathrm{CH}}}\right)}^2},$

where

F_y,setpoint=setpoint value of the lateral force at the center of gravity of the vehicle;

m=vehicle mass

v=vehicle speed;

l=wheelbase;

δ

=steering angle at front wheels;

v_CH=characteristic speed.

16. The system as recited in claim 13, wherein:

one of the setpoint values corresponding to that of the torque about a vertical axis of the vehicle is determined according to the following equation;

$M_{Z,\mathrm{setpoint}}=J_Z·<br><br>\frac{v}{l}<br><br>\stackrel{.}{\mathrm{\delta <br><br>}}<br><br>\frac{1}{1+{\left(\frac{v}{v_{\mathrm{CH}}}\right)}^2},$

where

M_z,setpoint=setpoint value of the torque about the vertical axis of the vehicle;

m=vehicle mass;

v=vehicle speed;

l=wheelbase;

{dot over (δ

)}=steering angle rate at the front wheels;

v_CH=characteristic speed.

17. The system as recited in claim 15, wherein:

an actual value of the lateral force is determined according to the following equation;

F_y=(F_y1+F_y2)cosδ

+F_y3+F_y4,

where

F_y=actual value of the lateral force at the center of gravity of the vehicle;

Fyi=wheel force measured at wheel i

δ

=steering angle at front wheels (i=1,

     2).

18. The system as recited in claim 16, wherein:

an actual value of the torque about the vertical axis of the vehicle is determined according to the following equation;

$M_z=\left(F_{y<br><br>\text{\hspace{1em}<br><br>}<br><br>1}+F_{y<br><br>\text{\hspace{1em}<br><br>}<br><br>2}\right)<br><br>1_v<br><br>\cos <br><br>\text{\hspace{1em}<br><br>}<br><br>\mathrm{\delta <br><br>}-\left(F_{\mathrm{y3}}+F_{y<br><br>\text{\hspace{1em}<br><br>}<br><br>4}\right)<br><br>1_H+\left(F_{y<br><br>\text{\hspace{1em}<br><br>}<br><br>1}-F_{y<br><br>\text{\hspace{1em}<br><br>}<br><br>2}\right)<br><br>\frac{S_v}{2}<br><br>\sin <br><br>\text{\hspace{1em}<br><br>}<br><br>\mathrm{\delta <br><br>},$

where

F_y=actual value of the lateral force at the center of gravity of the vehicle;

Fyi=wheel force measured at wheel i;

δ

=steering angle at front wheels (i=1,

     2);

1_v=distance of front wheels (i=1,

     2) from center of gravity;

1_H=distance of rear wheels (i=3,

     4) from center of gravity;

S_v=track at front axle (i=1,

     2).

19. The system as recited in claim 13, wherein:

the control system performs a control via a braking intervention.

20. The system as recited in claim 13, wherein:

the control system performs a control via a steering intervention.

21. The system as recited in claim 13, wherein:

the control system performs a control by influencing a vehicle speed.

22. The system as recited in claim 13, further comprising:

an estimator that generates, from the input values, output values that are taken into account in calculating at least one of the actual values and the setpoint values.

23. The system as recited in claim 13, further comprising:

tire sensors that measure the forces at the wheels of the vehicle.

24. The system as recited in claim 13, further comprising:

wheel bearing sensors that measure the forces at the wheels of the vehicle.