Method and device for detecting a critical snaking motion of a trailer of a vehicle combination

• US 9,682,709 B2
• Filed: 06/05/2015
• Issued: 06/20/2017
• Est. Priority Date: 06/05/2014
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Baust, Benjamin, Beisswenger, Markus
• Primary Examiner(s): Jos, Basil T
• Application Number:
  US14/732,254
• Publication Number:
  US 20150353096A1
• Time in Patent Office: 746 Days
• CPC Class Codes: B60D 1/30 for sway control , e.g. stabilising or anti-fishtail devices; Sway alarm means
• CPC Class Codes: B60D 1/62 involving supply lines, electric circuits, or the like
• CPC Class Codes: B60T 2230/06 Tractor-trailer swaying
• CPC Class Codes: B60T 7/20 specially for trailers, e.g. in case of uncoupling of or overrunning by trailer inertia-actuated overrun brakes B60T13/08
• CPC Class Codes: B60T 8/1708 for lorries or tractor-trailer combinations
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2300/14 Tractor-trailers, i.e. combinations of a towing vehicle and one or more towed vehicles, e.g. caravans; Road trains
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 40/114 Yaw movement
• CPC Class Codes: B62D 13/00 Steering specially adapted for trailers combined traction and steering hitches B60D
• CPC Class Codes: B62D 13/005 operated from tractor steering system

Abstract

A method is provided for the detection of a critical snaking motion of a trailer of a vehicle combination, in which a setpoint yaw rate of the trailer is ascertained from the transverse acceleration of the trailer and the longitudinal speed of the vehicle combination, the actual yaw rate of the trailer is ascertained using a yaw rate sensor, and by a comparison of the curve over time of the setpoint yaw rate and the actual yaw rate, the presence of a critical snaking motion of the trailer is ascertained.

Claims

1. A method for detecting a critical snaking motion of a trailer of a vehicle combination, the method comprising:

ascertaining, via a sensor, a setpoint yaw rate of the trailer from a transverse acceleration of the trailer and a longitudinal speed of the vehicle combination;

ascertaining, via the sensor, an actual yaw rate of the trailer using a yaw rate sensor;

ascertaining, via a control unit, a presence of the critical snaking motion of the trailer by comparing a curve over time of the setpoint yaw rate and a curve over time of the actual yaw rate; and

implementing, in the case of ascertaining the critical snaking motion of the trailer, a driver-independent braking intervention on the trailer;

wherein the critical snaking motion is detected as present by performing at least one of the following;

if a phase shift of the curve oscillating with time of the setpoint yaw rate relative to the curve oscillating with time of the actual yaw rate exceeds a specified threshold value,

if an amplitude difference between the curve oscillating with time of the setpoint yaw rate and the curve oscillating with time of the actual yaw rate exceeds a specified threshold value at a specified time after a beginning of the oscillations, and

if a growth rate of an amplitude difference between the curve oscillating with time of the setpoint yaw rate and the curve oscillating with time of the actual yaw rate exceeds a specified threshold value.

2. The method as recited in claim 1, wherein the critical snaking motion is detected as present, if a phase shift of the curve oscillating with time of the setpoint yaw rate relative to the curve oscillating with time of the actual yaw rate exceeds the specified threshold value.

3. The method as recited in claim 1, wherein the critical snaking motion is detected as present, if an amplitude difference between the curve oscillating with time of the setpoint yaw rate and the curve oscillating with time of the actual yaw rate exceeds the specified threshold value at the specified time after the beginning of the oscillations.

4. The method as recited in claim 1, wherein the critical snaking motion is detected as present, if a growth rate of an amplitude difference between the curve oscillating with time of the setpoint yaw rate and the curve oscillating with time of the actual yaw rate exceeds the specified threshold value.

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

transmitting, via the control unit, in the case of an ascertained critical snaking motion of the trailer, if a non-presence of the critical snaking motion of the towing vehicle is ascertained using a sensor mounted on the towing vehicle, information on the snaking motion of the trailer to a driver, wherein none of at least one of a driver-independent braking intervention, a driver-independent steering intervention, and a driver-independent engine torque-reducing intervention takes place.

6. The method as recited in claim 1, wherein the ascertaining of the transverse acceleration and the ascertaining of the actual yaw rate of the trailer are performed by the sensor, which is mounted on the trailer.

7. A method for detecting a critical snaking motion of a trailer of a vehicle combination, the method comprising:

ascertaining, via a sensor, a setpoint yaw rate of the trailer from a transverse acceleration of the trailer and a longitudinal speed of the vehicle combination;

ascertaining, via the sensor, an actual yaw rate of the trailer using a yaw rate sensor;

ascertaining, via a control unit, a presence of the critical snaking motion of the trailer by comparing a curve over time of the setpoint yaw rate and a curve over time of the actual yaw rate; and

implementing, in the case of ascertaining the presence of the critical snaking motion of the trailer, on the towing vehicle at least one of a driver-independent braking intervention, a driver-independent steering intervention, and a driver-independent engine torque-reducing intervention;

wherein the critical snaking motion is detected as present by performing at least one of the following;

if a phase shift of the curve oscillating with time of the setpoint yaw rate relative to the curve oscillating with time of the actual yaw rate exceeds a specified threshold value,

if an amplitude difference between the curve oscillating with time of the setpoint yaw rate and the curve oscillating with time of the actual yaw rate exceeds a specified threshold value at a specified time after a beginning of the oscillations, and

if a growth rate of an amplitude difference between the curve oscillating with time of the setpoint yaw rate and the curve oscillating with time of the actual yaw rate exceeds a specified threshold value.

8. A device for detecting a critical snaking motion of a trailer of a vehicle combination, comprising:

a sensor for ascertaining a setpoint yaw rate of the trailer from a transverse acceleration of the trailer and a longitudinal speed of the vehicle combination, and for ascertaining an actual yaw rate of the trailer using a yaw rate sensor; and

a control unit for ascertaining a presence of the critical snaking motion of the trailer by comparing a curve over time of the setpoint yaw rate and a curve over time of the actual yaw rate;

wherein the control unit implements, in the case of ascertaining the critical snaking motion of the trailer, a driver-independent braking intervention on the trailer, and

wherein the critical snaking motion is detected as present by performing at least one of the following;

if a phase shift of the curve oscillating with time of the setpoint yaw rate relative to the curve oscillating with time of the actual yaw rate exceeds a specified threshold value,

if an amplitude difference between the curve oscillating with time of the setpoint yaw rate and the curve oscillating with time of the actual yaw rate exceeds a specified threshold value at a specified time after a beginning of the oscillations, and

if a growth rate of an amplitude difference between the curve oscillating with time of the setpoint yaw rate and the curve oscillating with time of the actual yaw rate exceeds a specified threshold value.

9. The device as recited in claim 8, wherein the critical snaking motion is detected as present, if a phase shift of the curve oscillating with time of the setpoint yaw rate relative to the curve oscillating with time of the actual yaw rate exceeds the specified threshold value.

10. The device as recited in claim 8, wherein the critical snaking motion is detected as present, if an amplitude difference between the curve oscillating with time of the setpoint yaw rate and the curve oscillating with time of the actual yaw rate exceeds the specified threshold value at the specified time after the beginning of the oscillations.

11. The device as recited in claim 8, wherein the critical snaking motion is detected as present, if a growth rate of an amplitude difference between the curve oscillating with time of the setpoint yaw rate and the curve oscillating with time of the actual yaw rate exceeds the specified threshold value.

12. The device as recited in claim 8, wherein the control unit transmits, in the case of an ascertained critical snaking motion of the trailer, if a non-presence of the critical snaking motion of the towing vehicle is ascertained using a sensor mounted on the towing vehicle, information on the snaking motion of the trailer to a driver, wherein none of at least one of a driver-independent braking intervention, a driver-independent steering intervention, and a driver-independent engine torque-reducing intervention takes place.

13. The device as recited in claim 8, wherein the ascertaining of the transverse acceleration and the ascertaining of the actual yaw rate of the trailer are performed by the sensor, which is mounted on the trailer.

14. A device for detecting a critical snaking motion of a trailer of a vehicle combination, comprising:

a sensor for ascertaining a setpoint yaw rate of the trailer from a transverse acceleration of the trailer and a longitudinal speed of the vehicle combination, and for ascertaining an actual yaw rate of the trailer using a yaw rate sensor; and

a control unit for ascertaining a presence of the critical snaking motion of the trailer by comparing a curve over time of the setpoint yaw rate and a curve over time of the actual yaw rate;

wherein the control unit implements, in the case of ascertaining the presence of the critical snaking motion of the trailer, on the towing vehicle at least one of a driver-independent braking intervention, a driver-independent steering intervention, and a driver-independent engine torque-reducing intervention, and

wherein the critical snaking motion is detected as present by performing at least one of the following;

if a phase shift of the curve oscillating with time of the setpoint yaw rate relative to the curve oscillating with time of the actual yaw rate exceeds a specified threshold value,

if an amplitude difference between the curve oscillating with time of the setpoint yaw rate and the curve oscillating with time of the actual yaw rate exceeds a specified threshold value at a specified time after a beginning of the oscillations, and

if a growth rate of an amplitude difference between the curve oscillating with time of the setpoint yaw rate and the curve oscillating with time of the actual yaw rate exceeds a specified threshold value.