Method for reducing the rollover risk in vehicles

• US 8,315,765 B2
• Filed: 09/24/2008
• Issued: 11/20/2012
• Est. Priority Date: 09/24/2007
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Gerdes, Manfred, Niewels, Frank, Futterer, Sylvia, Ziegler, Peter
• Primary Examiner(s): Trammell, James
• Assistant Examiner(s): Alsomiri, Majdi
• Application Number:
  US12/236,906
• Publication Number:
  US 20090082923A1
• Time in Patent Office: 1,518 Days
• Field of Search: 701/1, 701/29, 701 36- 42, 701/45, 701/48, 701/70, 701/72, 340/429, 340/438, 340/440, 340/441, 340/446, 340/465, 180/6.48, 180/168, 180/197, 180/271, 180/282, 180/406, 180/411, 180/422, 180/446, 280/5.502, 280/5.507, 280/5.51, 280/728.1, 280/730.2, 280/735, 280/743.1, 280/755
• US Class Current: 701/41
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 10/22 including control of suspension systems
• CPC Class Codes: B60W 2050/0008 Feedback, closed loop systems or details of feedback error signal
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2520/20 Sideslip angle
• CPC Class Codes: B60W 2710/207 Steering angle of wheels
• CPC Class Codes: B60W 2720/125 Lateral acceleration
• CPC Class Codes: B60W 2720/14 Yaw
• CPC Class Codes: B60W 30/04 related to roll-over prevention
• CPC Class Codes: B60W 40/109 Lateral acceleration
• CPC Class Codes: B60W 40/114 Yaw movement

Abstract

In a method for reducing the rollover risk in vehicles, at least one state variable which characterizes the transverse dynamics of the vehicle is ascertained and is used as the basis for an intervention into the steering system and the braking system which stabilizes the vehicle. A multivariable control is carried out in which two control loops are superimposed, the first control loop being based on control of the yaw rate and the second control loop being based on control of the transverse acceleration. The steering system as well as the braking system may be adjusted via the first and second control loops.

Claims

1. A method for reducing a rollover risk in a vehicle, comprising:

ascertaining at least one state variable which characterizes transverse dynamics of the vehicle;

performing an intervention, based on the at least one state variable, into a steering system and a braking system which stabilizes the vehicle;

performing a multivariable control, for stabilizing the vehicle, in which two control loops are superimposed, a yaw rate control loop being based on control of at least one of (a) a yaw rate and (b) a corresponding state variable, and a transverse acceleration control loop being based on control of at least one of (a) a transverse acceleration and (b) a corresponding state variable; and

adjusting the steering system and the braking system via the two control loops, wherein the two control loops are based on a common setpoint reference value, wherein a transverse acceleration threshold value is specified as a setpoint value for the transverse acceleration control loop, and the transverse acceleration setpoint value is used to ascertain a yaw rate setpoint value for the yaw rate control loop, wherein sensor-determined state variables of an electronic stability program implemented in the vehicle are used, wherein the sensor-determined state variables include the yaw rate and the transverse acceleration, and wherein data available in an electronic stability program is used to make a query as to whether there is a risk of the vehicle rolling over.

2. The method according to claim 1, wherein while the method is being carried out, the steering system is acted on permanently and the braking system is acted on as needed.

3. The method according to claim 2, wherein on the basis of a criterion which characterizes the stability of the vehicle, a decision is made as to whether the braking system is acted on or remains uninfluenced.

4. The method according to claim 3, wherein the criterion includes a slip angle.

5. The method according to claim 1, wherein a chassis actuator is acted on as needed.

6. The method according to claim 1, wherein an actively adjustable steering system is acted on, via which an additional steering angle, which is superimposed on the steering angle specified by a driver, is settable.

7. The method according to claim 6, wherein during the action on the steering system, additional interventions by other control systems into the steering system are suppressed.

8. The method according to claim 1, wherein an electrically actuatable steering system is acted on, via which an assisting steering torque is generatable.

12. The method according to claim 1 wherein while the method is being carried out, the steering system is acted on permanently and the braking system is acted on as needed, wherein on the basis of a criterion which characterizes the stability of the vehicle, a decision is made as to whether the braking system is acted on or remains uninfluenced, and wherein the criterion includes a slip angle.

13. The method according to claim 1 wherein a chassis actuator is acted on as needed, wherein an actively adjustable steering system is acted on, via which an additional steering angle, which is superimposed on the steering angle specified by a driver, is settable, and wherein during the action on the steering system, additional interventions by other control systems into the steering system are suppressed.

14. The method according to claim 1 wherein an electrically actuatable steering system is acted on, via which an assisting steering torque is generatable.

9. A regulation and control unit, comprising:

an arrangement configured to perform a method for reducing a rollover risk in a vehicle, the arrangement including;

(a) an arrangement configured to ascertain at least one state variable which characterizes transverse dynamics of the vehicle;

(b) an arrangement configured to perform an intervention, based on the at least one state variable, into a steering system and a braking system which stabilizes the vehicle;

(c) an arrangement configured to perform a multivariable control, for stabilizing the vehicle, in which two control loops are superimposed, a yaw rate control loop being based on control of at least one of (a) a yaw rate and (b) a corresponding state variable, and a transverse acceleration control loop being based on control of at least one of (a) a transverse acceleration and (b) a corresponding state variable; and

(d) an arrangement configured to adjust the steering system and the braking system via the two control loops, wherein the two control loops are based on a common setpoint reference value, wherein a transverse acceleration threshold value is specified as a setpoint value for the transverse acceleration control loop, and the transverse acceleration setpoint value is used to ascertain a yaw rate setpoint value for the yaw rate control loop, wherein sensor-determined state variables of an electronic stability program implemented in the vehicle are used, wherein the sensor-determined state variables include the yaw rate and the transverse acceleration, and wherein data available in an electronic stability program is used to make a query as to whether there is a risk of the vehicle rolling over.

10. A vehicle, comprising:

a regulation and control unit;

a steering system; and

a braking system;

wherein the regulation and control unit includes an arrangement configured to perform a method for reducing a rollover risk in the vehicle, the arrangement including;

(a) an arrangement configured to ascertain at least one state variable which characterizes transverse dynamics of the vehicle;

(b) an arrangement configured to perform an intervention, based on the at least one state variable, into the steering system and the braking system which stabilizes the vehicle;

(c) an arrangement configured to perform a multivariable control, for stabilizing the vehicle, in which two control loops are superimposed, a yaw rate control loop being based on control of at least one of (a) a yaw rate and (b) a corresponding state variable, and a transverse acceleration control loop being based on control of at least one of (a) a transverse acceleration and (b) a corresponding state variable; and

(d) an arrangement configured to adjust the steering system and the braking system via the two control loops, wherein the two control loops are based on a common setpoint reference value, wherein a transverse acceleration threshold value is specified as a setpoint value for the transverse acceleration control loop, and the transverse acceleration setpoint value is used to ascertain a yaw rate setpoint value for the yaw rate control loop, wherein sensor-determined state variables of an electronic stability program implemented in the vehicle are used, wherein the sensor-determined state variables include the yaw rate and the transverse acceleration, and wherein data available in an electronic stability program is used to make a query as to whether there is a risk of the vehicle rolling over.

11. The vehicle according to claim 10, further comprising:

an actively adjustable chassis system.