Method and arrangement for vehicle stabilization
First Claim
1. An arrangement for improving stability of a vehicle combination comprising a towing vehicle and at least one towed vehicle, Where the at least one towed vehicle comprises at least one actively steered axle and/or an individually controlled wheel brake on at least one axle, where the towing vehicle and the at least one towed vehicle each comprises a lateral acceleration determining means for determining lateral acceleration of the towing vehicle and the at least one towed vehicle, the lateral acceleration determining means being an acceleration sensor, where the arrangement further comprises a vehicle combination model adapted for determining a desired delay value between the lateral acceleration of the towing vehicle and the lateral acceleration of the at least one towed vehicle, the arrangement is adapted to stabilize the at least one towed vehicle by using the determined lateral acceleration of the towing vehicle and the desired delay value for the at least one towed vehicle to establish a reference lateral acceleration for the at least one towed vehicle, and to control the actively steered axle and/or the individually controlled brake of the at least one towed vehicle such that the determined lateral acceleration of the at least one towed vehicle corresponds to the reference lateral acceleration of the at least one towed vehicle.
1 Assignment
0 Petitions
Accused Products
Abstract
An arrangement for improving stability of a vehicle combination includes a towing vehicle and at least one towed vehicle, where the at least one towed vehicle includes an actively steered axle and/or individual brake on at least one axle, where the towing vehicle and the at least one towed vehicle each includes a lateral acceleration determining arrangement. A vehicle combination model is adapted for determining a desired delay value between the lateral acceleration of the towing vehicle and the lateral acceleration of the at least one towed vehicle, where the arrangement is adapted to stabilize the at least one towed vehicle by using the determined lateral acceleration of the towing vehicle and the desired delay value for the at least one towed vehicle to establish a desired lateral acceleration for the at least one towed vehicle, and to control the steered axle and/or the individual brake of the at least one towed vehicle such that the determined lateral acceleration of the at least one towed vehicle corresponds to the desired lateral acceleration of the at least one towed vehicle.
32 Citations
15 Claims
- 1. An arrangement for improving stability of a vehicle combination comprising a towing vehicle and at least one towed vehicle, Where the at least one towed vehicle comprises at least one actively steered axle and/or an individually controlled wheel brake on at least one axle, where the towing vehicle and the at least one towed vehicle each comprises a lateral acceleration determining means for determining lateral acceleration of the towing vehicle and the at least one towed vehicle, the lateral acceleration determining means being an acceleration sensor, where the arrangement further comprises a vehicle combination model adapted for determining a desired delay value between the lateral acceleration of the towing vehicle and the lateral acceleration of the at least one towed vehicle, the arrangement is adapted to stabilize the at least one towed vehicle by using the determined lateral acceleration of the towing vehicle and the desired delay value for the at least one towed vehicle to establish a reference lateral acceleration for the at least one towed vehicle, and to control the actively steered axle and/or the individually controlled brake of the at least one towed vehicle such that the determined lateral acceleration of the at least one towed vehicle corresponds to the reference lateral acceleration of the at least one towed vehicle.
- 8. Vehicle combination comprising an arrangement for improving stability of the vehicle combination comprising a towing vehicle and at least one towed vehicle, where the at least one towed vehicle comprises at least one actively steered axle and/or an individually controlled wheel brake on at least one axle, where the towing vehicle and the at least one towed vehicle each comprises a lateral acceleration determining means for determining the lateral acceleration of the towing vehicle and the at least one towed vehicle, the lateral acceleration determining means being an acceleration sensor, Where the arrangement further comprises a vehicle combination model adapted for determining a desired delay value between the lateral acceleration of the towing vehicle and the lateral acceleration of the at least one towed vehicle, the arrangement is adapted to stabilize the at least one towed vehicle by using the determined lateral acceleration of the towing vehicle and the desired delay value for the at least one towed vehicle to establish a reference lateral acceleration for the at least one towed vehicle, and to control the actively steered axle and/or the individually controlled brake of the at least one towed vehicle such that the determined lateral acceleration of the at least one towed vehicle corresponds to the reference lateral acceleration of the at least one towed vehicle.
-
12. A method for stabilizing a vehicle combination comprising a towing vehicle and at least one towed vehicle, comprising:
-
establishing a desired delay value for lateral acceleration between the towing vehicle and the at least one towed vehicle in the vehicle combination by using a vehicle combination model, determining lateral acceleration of the towing vehicle, establishing a reference lateral acceleration value for each towed vehicle by using the determined lateral acceleration of the towing vehicle and the established delay value, determining an actual lateral acceleration of the at least one towed vehicle, comparing the actual lateral acceleration with the reference lateral acceleration, controlling the lateral acceleration of the at least one towed vehicle to the reference lateral acceleration value by controlling steering axles and/or individual brakes on the at least one towed vehicle.
-
-
13. A control unit comprising a program for performing, when the program is run on the control unit, a method for stabilizing a vehicle combination comprising a towing vehicle and at least one towed vehicle, the method comprising:
-
establishing a desired delay value for lateral acceleration between the towing vehicle and the at least one towed vehicle in the vehicle combination by using a vehicle combination model, determining lateral acceleration of the towing vehicle, establishing a reference lateral acceleration value for each towed vehicle by using the determined lateral acceleration of the towing, vehicle and the established delay value, determining the actual lateral acceleration of the at least one towed vehicle, comparing the actual lateral acceleration with the reference lateral acceleration controlling the lateral acceleration of the at least one towed vehicle to the reference lateral acceleration value by controlling steering axles and/or individual brakes on the at least one towed vehicle.
-
-
14. A computer program product comprising program code stored on a non-transitory computer readable medium for performing, when the program product is run on a control unit, a method for stabilizing a vehicle combination comprising a towing vehicle and at least one towed vehicle, the method comprising:
-
establishing a desired delay value for the lateral acceleration between the towing vehicle and the at least one towed vehicle in the vehicle combination by using a vehicle combination model, determining the lateral acceleration of the towing vehicle, establishing a reference lateral acceleration value for each towed vehicle by using the determined lateral acceleration of the towing vehicle and the established delay value, determining the actual lateral acceleration of the at least one towed vehicle, comparing the actual lateral acceleration with the reference lateral acceleration, controlling the lateral acceleration of the at least one towed vehicle to the reference lateral acceleration value by controlling steering axles and/or individual brakes on the at least one towed vehicle.
-
-
15. An arrangement for improving stability of a vehicle combination comprising a towing vehicle and at least one towed vehicle, where the at least one towed vehicle comprises at least one actively steered axle and/or an individually controlled wheel brake on at least one axle, where the towing vehicle and the at least one towed vehicle each comprises a lateral acceleration determining means for determining the lateral acceleration of the towing vehicle and the at least one towed vehicle, the lateral acceleration determining means being a software module in a control unit, where the arrangement fluffier comprises a vehicle combination model adapted for determining a desired delay value between the lateral acceleration of the towing, vehicle and the lateral acceleration of the at least one towed vehicle, the arrangement is adapted to stabilize the at least one towed vehicle by using the determined lateral acceleration of the towing vehicle and the desired delay value for the at least one towed vehicle to establish a reference lateral acceleration for the at least one towed vehicle, and to control the actively steered axle and/or the individually controlled brake of the at least one towed vehicle such that the determined lateral acceleration of the at least one towed vehicle corresponds to the reference lateral acceleration of the at least one towed vehicle.
Specification