CN102407847B - Form the method representing and cross in driving and turn over the Severity Index of the journey order of severity - Google Patents
Form the method representing and cross in driving and turn over the Severity Index of the journey order of severity Download PDFInfo
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- CN102407847B CN102407847B CN201110248536.1A CN201110248536A CN102407847B CN 102407847 B CN102407847 B CN 102407847B CN 201110248536 A CN201110248536 A CN 201110248536A CN 102407847 B CN102407847 B CN 102407847B
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000007306 turnover Effects 0.000 title claims description 4
- 230000010354 integration Effects 0.000 claims abstract description 3
- 230000000087 stabilizing effect Effects 0.000 claims description 12
- 230000015572 biosynthetic process Effects 0.000 abstract description 3
- 230000001133 acceleration Effects 0.000 description 13
- 238000001514 detection method Methods 0.000 description 11
- 230000008859 change Effects 0.000 description 7
- 230000006399 behavior Effects 0.000 description 6
- 238000006243 chemical reaction Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
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- 238000005516 engineering process Methods 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000008485 antagonism Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
- B62D6/006—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels using a measured or estimated road friction coefficient
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/02—Control of vehicle driving stability
- B60W30/045—Improving turning performance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
- B62D6/003—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels in order to control vehicle yaw movement, i.e. around a vertical axis
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2260/00—Interaction of vehicle brake system with other systems
- B60T2260/02—Active Steering, Steer-by-Wire
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0008—Feedback, closed loop systems or details of feedback error signal
- B60W2050/001—Proportional integral [PI] controller
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Automation & Control Theory (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention discloses a kind of formation in expression driver behavior and cross the method turning the Severity Index (S) of the order of severity.Described method comprises step: at least detect steering angular velocity (ω
l); Judge the steering angular velocity (ω detected
l) with the difference of constant (F); And by asking described difference integration in time to form described Severity Index (S).
Description
Technical field
The present invention relates to a kind of formation in expression driver behavior and cross the method turning over the Severity Index of the journey order of severity, and the method for the vehicle that stabilizes when having served as forwarding life.
Background technology
Under the condition of dynamic driving, the stability of vehicle chassis is usually very high to the requirement of vehicle driver.Extreme speed, weather effect (making road surface slippery situation by raining or freeze), and the urgent intervention needed time in danger, all make general navigating mate or fatigue driving person's overwork.Therefore except anti-lock braking system, have developed Study on Vehicle Dynamic Control system, it in Vehicular turn deficiency or when excessively turning, can turn to by resisting the specific selectivity brake of individual wheel.Further, system can pro-active intervention Vehicular turn, namely on the handling maneuver of driver, superposes extra correction handling maneuver.Because hydraulic pressure or pneumatic servo device need increase technology funds, therefore for reaching this object, vehicle has at least one and electrically operatedly turns to servomechanism.In addition, vehicle also can process so-called active steering.This system can superpose extra angle on the steering angle of driver.
Cross and turn the trend anxious situation steeper than driver's expection that (oversteer) is Vehicular turn curve, thus vehicle tail may throw away outside curve, thus generation vehicle tail rotates when trailing wheel loses its side-friction force.
DE19832484A relates to a kind of detection side turns the method for deviation and device and method from a kind of vehicle that stabilizes during crossing the cornering operation turned to mistake and device.Described method comprises: the wheel speed signal value according to several wheels judges its wheel speed, judge the slip value of these several wheels, and detection is turned while considering this several slip value of judging, at least one in these wheel speed signal values and slip value is averaged or quadratures on one section of brachistochrone (250 to 500ms).Therefore, by considering that wheel skid value and/or detectable the appearing of side acceleration values turn state.By operation of stabilizing to the suitable intervention of brake system.
DE4123235C discloses a kind of method and the device that prevent vehicle behavior unstability, form desirable Vehicular yaw angular rate value according to observed reading (i.e. car speed and steering wheel angle degree), and according at least one sensor signal survey and judge actual Vehicular yaw angular rate value.If cross change one's profession into, be then positioned at the vehicle front-wheel outside curve brake pressure increase; If understeer behavior, then the brake pressure being positioned at the vehicle rear wheel of the inner side of curve increases.
DE60213215T2 discloses a kind of wheel steering system, comprising: for judging whether vehicle is living through the mistake turning situation and turning estimating device; For judging the steering controlling device of compensating torque, it turns state in order to assist driver that Vehicular yaw speed is reduced to zero thus reduces over; And excessively turning state once determine the active device that will be triggered, it turns to the additional torque request on request to be seamlessly transitted in order to perform being fade-in of compensating torque with gradually going out thus making to put on driver.Additionally provide a kind of algorithm, can utilize the result of a measurement to automobile dynamic quality situation, what the vehicle that stabilizes during to determine to turn was suitable turns to correction, and this turns to correction will be used to vehicle by standard power steering swivel system.Cross and turn estimating device and be suitable for, according to yaw velocity that is measured or that extrapolate and/or lateral acceleration and/or steering wheel angle degree and/or lateral acceleration and/or slip angle, calculating vehicle and occurring to turn estimating of tendency.Detection steering wheel angle degree or steer wheel position are only for performing vehicle about dynamical parameter (as lateral acceleration or Vehicular yaw speed) is as the steering operation of initializaing variable.
But the stability caused according to probed turn of vehicle related dynamic parameters or understeer is not normal and make corresponding reaction, usually late.Thus, deviation and the initial countermeasures of wrong parameter are relatively large, and more rank (overstepping) are usually inevitable, thus vehicle just may be de-orbited before countermeasures plays a role, and now material alterations has occurred Pilotage en Force situation, the change new to this appropriate reaction must be taked.For this reason, expect to detect as early as possible appear turn.
Summary of the invention
The object of the invention is to realize a kind ofly to cross to vehicle the device turning and carry out early detection and estimate.Another object of the present invention realizes a kind of favorable method for the vehicle that stabilizes when crossing and forwarding raw.
Represent in driver behavior that crossing the method turning over the Severity Index of the journey order of severity reaches first object by being formed, as claimed in claim 1; Second object is reached, as claimed in claim 6 by the method for the vehicle that stabilizes when crossing and forwarding raw.Dependent claims includes various favourable structure of the present invention and establishes.
According to the present invention, formed and represent in driver behavior that crossing the method turning over the Severity Index (S) of the journey order of severity comprises the following steps:
At least detect steering angular velocity (ω
l);
Judge the steering angular velocity (ω detected
l) with the difference of constant (F); And
Described Severity Index (S) is formed by asking described difference integration in time.
The Severity Index that creative method according to the present invention is formed, can be the more suitable tolerance representing and turn over the journey order of severity (gravity degree).Because it provided based on detection the steering angular velocity turning over journey and characterize in early days, therefore in chassis control system, can start and turn the suitable early stage countermeasures of severity with judged mistake.Therefore, by means of Severity Index, can reduce in early stage the degree that serious mistake turns event, thus increase the driving safety under emergency running state.
Advantageously, the value of Severity Index range limited in lower limit, thus Severity Index can be avoided to occur critical value even negative value.Particularly, this lower limit can be zero, only forbids negative value under this situation to Severity Index.But, this lower limit also can be greater than zero value, under this situation, also to forbid the Severity Index value of the critical order of severity represented without the need to intervening chassis control system.In addition, what lower limit made Severity Index is determined to be possibility fast.
Particularly, described constant can represent speed reduction (gradual change constant) of unit time.Thus, it can with the regulating parameter of sensitieness making adjustments Severity Index.High constant value only could produce larger Severity Index value under extreme vehicle operating conditions, even and if subnormal period value also can produce higher Severity Index value under the normal running of vehicle.
Except steering angular velocity, Severity Index also can consider car speed, because the danger of steering operation also depends on car speed.
According to the present invention can also realize a kind of served as and forwarded raw time to stabilize the method for vehicle.In the method, the creative method according to formation Severity Index of the present invention judges Severity Index.Then perform based on judged Severity Index measure of stabilizing.Especially, the parameter of measure of stabilizing can be affected based on judged Severity Index.
The measure of stabilizing can comprise to be carried out controlled intervention to Vehicular turn and/or carries out uncontrolled skid to vehicle.If as the measure of stabilizing, there occurs the controlled intervention of Vehicular turn or the uncontrolled skid to vehicle, then can select based on judged Severity Index measure of stabilizing.If as the measure of stabilizing, to the controlled intervention of Vehicular turn with all there occurs the uncontrolled skid of vehicle, then can coordinate the controlled intervention turned to and uncontrolled skid based on judged Severity Index.
Accompanying drawing explanation
Referring to accompanying drawing, exemplary embodiment is specifically described, thus other features of the present invention, feature and advantage can be made more clear understandable.
Figure 1 shows that the vehicle dynamic chassis control system of high-level schematic;
Figure 2 shows that the diagram of circuit of method of the present invention;
Be respectively shown in Fig. 3 A to Fig. 3 C tire adhesion force good time detect, judge and the curvilinear trend of desired parameter;
Be respectively shown in Fig. 4 A to Fig. 4 D tire adhesion force poor time detect, judge and the curvilinear trend of desired parameter.
Detailed description of the invention
This exemplary embodiment starts from the PDCC of vehicle, it comprises at least one and crosses and turn detector 10 and a power steering apparatus 11 (such as can produce power steering apparatus or the active steering apparatus of thrust), as shown in Figure 1, wherein steering connecting rod 12 acts on the wheel 13 that can turn to.Arranged and turned detector 10 at least to detect turning velocity.Turning velocity (being the direct tolerance of vehicle driver's dynamics used when Vehicular turn being entered bent angle) by direct detection be vehicle cross change one's profession into source, the deviation do not produced by detecting the such as vehicle parameter such as lateral acceleration or yaw velocity.Thus can realize more early and technical easier detection crossing the error turning middle appearance.The detection of turning velocity can be carried out on some movable parts of steering connecting rod.This movable part of steering connecting rod 12 can be such as steering column, steering gear, intermediate rod or links the parts of steering connecting rod, or is directly steered wheel.Because all steering connecting rod parts are all connected to each other, be therefore only a factor to the difference of the detection of different steering connecting rod parts, this factor should include consideration in.
Such as, the turning velocity (being cireular frequency) of the handling maneuver that driver implements can be detected with angular sensor.As an alternative or supplement, the turning velocity (being translatory velocity) of the handling maneuver that driver implements can be detected with motion of translation sensor.The parts that angular sensor and/or motion of translation sensor can pass through non-positive (nonpositive) mechanical link or noncontact connecting part and steering connecting rod link.
The form producing the power steering apparatus 11 of thrust can be the system comprising electricity and/or hydraulic pressure and/or pressure system parts.
According to the present invention, propose a kind of method that order of severity (gravity degree) according to excessively turning quantized to turn.For reaching this object, in chassis control system 14 or aim at and judge the order of severity and judge Severity Index in the add-on module established, then can produce with this Severity Index and corresponding to this and cross the antagonism effect turned.Such as, the Severity Index judged, is used in chassis control system 14 and can be used for adjustment gradient-magnitude and/or accelerating vehicle, or be used in power steering apparatus 11 for carrying out controlled intervention to turning to.
Figure 2 shows that the diagram of circuit that the preferred structure of the method for judgement Severity Index of the present invention is established.
In the first program step S1 upon start, such as, judged the handling maneuver of vehicle driver by angular sensor, as the angular velocity omega of steered wheel about the time
l.
In next program step S2, (be detected steered wheel angular velocity omega using Severity Index S as handling maneuver
l) function calculate Severity Index S according to following mathematical relation:
S(t)＝∫(ω
L-F)dt，
Wherein
S (t) represents Severity Index,
ω
lrepresent the cireular frequency of steered wheel about the time,
F is gradual change constant.
Such as, gradual change constant F is used for regulating its sensitieness before step S3 Severity Index S being applied to chassis or steering control system.
In addition, in order to avoid negative Severity Index, Severity Index (S) lower limit in this exemplary embodiment, is employed.Its value is zero, so actual Severity Index is drawn by following formula:
S(t)＝max(S(t)，0)
Detect when being respectively tire adhesion force good (such as on dry pitch, now coefficientoffrictionμ is higher) shown in Fig. 3 A to 3C, judge and the curvilinear trend 1,2,3,4,5 of desired parameter and the Severity Index 6 that calculates.
Fig. 3 A to 3C twice continuous print respectively illustrated along time shaft t (employing abscissa) is crossed and is turned event I and II.In each event, what correlation was drawn on the vertical scale is desirable yaw rate 1 and the yaw rate 2 measured, unit is per second/angle, and the deviation of the yaw rate of measurement is greater than desirable yaw rate, because the latter has reached the result of the present invention about the target of the counteracting of probed turn.Meanwhile, illustrate the lateral acceleration 3 of the measurement of time correlation, this lateral acceleration uses the unit m/s of acceleration/accel
2.With this degree, the absolute deviation of its desired value is not too obvious as shown in the figure.But illustrate the time trend of each parameter, be in order to assess between each parameter relatively in advance or delayed.
In order to show more clear, except upper curve trend, eachly figures also show that lower curve trend, in lower curve trend, use same temporal correlation to further illustrate some parameters.First be wherein judged to turn 4, and measured lateral acceleration 5 and turn Severity Index 6 (or S) according to the mistake that the present invention judges.
It is relevant to two kinds of steering directions respectively with II that twice continuous mistake turns event I; If namely first cross that to turn event I relevant to left hand curve, so to turn event II then relevant to right hand curve for the second mistake.
Be respectively shown in Fig. 4 A to Fig. 4 D tire adhesion force poor (such as skid compacting snow on, now coefficientoffrictionμ is lower) time detect be, judge it is the curvilinear trend 1,2,3,4,5,6 with desired parameter.
The diagram of these parameters is similar to described in Fig. 3 A to Fig. 3 C.But with it unlike, judged to turn 4 as zero.But, even if tire adhesion force is poor, to detect and represent that it is also possible for turning in theory, even therefore judged that turning 4 also can show.
But, draw an important discovery from all these graphic curvilinear trends, the Severity Index 6 namely judged according to the present invention had reacted to be crossed the order of severity that turns this is true, even and if this truely also will to keep when tire adhesion force is different always.
In contrast, lateral acceleration 5 more or less overlaps with each cornering operation in time.Therefore, the invention has the advantages that, the Severity Index 6 judged according to the present invention or the detection of S turn detection early than by the mistake that such as vehicle parameter such as lateral acceleration or yaw rate carries out in time.Therefore, can in period more early, chassis control system uses the signal relevant to Severity Index 6 according to the present invention, to start suitable (inverse steering effort form) countermeasures, thus provides higher driving safety in extreme cases.In addition, Severity Index 6 can be quantized according to the present invention, so as according to cross turn event difficulty calculate reverse to power.
The Severity Index S judged is adequate measures for the actual driver behavior order of severity.This index can be used for different object.Such as, it can be used for affecting parameters, such as, had the parameter turned in the chassis control system 14 of control system.Therefore, in such control system, it such as can adjust coefficient of amplification.If have two arranged side by side to turn control system for offsetting the mistake turned, such as ESP (ElectronicStabilityProgram: electronic stability program) or EPAS (ElectronicPowerAssistedSteering: electronic power assist steering), so Severity Index S can be used for the steering engagement coordinating these two systems, thus under the intervention of two systems is assisted, reach the target of the vehicle that stabilizes of expection.But, alternatively, and if exist from a control system to another conversion to stabilize vehicle, be such as transitioned into ESP system from EPAS, then also may exist according to Severity Index S from a system to another conversion.For this purpose, may exist one predetermined such as the correlative value of Severity Index, it is as lower threshold value, once will there is the conversion from a system to another system higher than this threshold value.
Reference numeral complete list
I, II cross the event of turning, left and right
1 desirable yaw rate
2 yaw rate measured
3 lateral accelerations measured
4 yaw acceleration measured
5 turn the order of severity excessively
6 mistakes judged turn
10 turn detector excessively
11 power steering apparatus
12 steering connecting rods
13 steerable vehicle wheels
14 chassis control systems
F gradual change constant
μ friction coefficient
The S order of severity
S1...S3 program step
T time shaft
ω
lthe cireular frequency of steered wheel
Claims (9)
1. form the method representing and cross in vehicle operating and turn over the Severity Index (S) of the journey order of severity, comprise the following steps:
At least detect steering angular velocity (ω
l);
Judge the steering angular velocity (ω detected
l) with the difference of constant (F); And
By asking described difference integration in time to form described Severity Index (S),
The speed that wherein said constant represents the unit time reduces.
2. the method for claim 1, the value of wherein said Severity Index (S) range limited in lower limit.
3. method as claimed in claim 2, wherein said lower limit is zero.
4., as the method in claims 1 to 3 as described in any one, wherein car speed is a part of described Severity Index (S).
5. served as a method for the vehicle that to stabilize when forwarding raw, wherein judged the Severity Index (S) as Claims 1-4 according to any one of, and to have stabilized measure based on the execution of judged described Severity Index (S).
6. method as claimed in claim 5, wherein based on the parameter of measure of stabilizing described in the impact of judged described Severity Index (S).
7. the method as described in claim 5 or 6, the wherein said measure of stabilizing comprises to be carried out controlled intervention to described Vehicular turn and/or carries out uncontrolled skid to described vehicle.
8. method as claimed in claim 7, wherein, when the controlled intervention to described Vehicular turn or the uncontrolled skid to described vehicle occur as described measure of stabilizing, measure of stabilizing described in selecting based on judged described Severity Index (S).
9. method as claimed in claim 7, wherein, when controlled intervention to described Vehicular turn and the uncontrolled skid to described vehicle all occur as described measure of stabilizing, coordinate described to the described described controlled intervention that turns to and described uncontrolled skid based on judged described Severity Index (S).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102010037417.2 | 2010-09-09 | ||
| DE201010037417 DE102010037417B3 (en) | 2010-09-09 | 2010-09-09 | Severeness subscript forming method for vehicle, involves acquiring steering angle velocity, and forming difference between acquired steering angle velocity and constant and severeness subscript by integrating difference over time |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102407847A CN102407847A (en) | 2012-04-11 |
| CN102407847B true CN102407847B (en) | 2016-03-09 |
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ID=44924947
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110248536.1A Active CN102407847B (en) | 2010-09-09 | 2011-08-26 | Form the method representing and cross in driving and turn over the Severity Index of the journey order of severity |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN102407847B (en) |
| DE (1) | DE102010037417B3 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102013200024A1 (en) * | 2013-01-02 | 2014-07-03 | Bayerische Motoren Werke Aktiengesellschaft | Counter-steering assistant unit for motor car, generates steering torque upon detection of rapid increase yaw movement, where counter-steering is configured such that oscillating movement of rear portion of motor car is actively damped |
| US10843727B2 (en) * | 2017-07-07 | 2020-11-24 | Jtekt Corporation | Steering apparatus |
| CN111325869B (en) * | 2018-12-13 | 2023-02-10 | 厦门雅迅网络股份有限公司 | Vehicle fatigue driving accurate judgment method, terminal device and storage medium |
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| US5341297A (en) * | 1991-07-13 | 1994-08-23 | Mercedes-Benz Ag | Apparatus and method for preventing instabilities in vehicle handling |
| JPH10287146A (en) * | 1997-04-16 | 1998-10-27 | Unisia Jecs Corp | Vehicle motion control device |
| US6580995B1 (en) * | 1998-02-07 | 2003-06-17 | Continental Teves Ag & Co., Ohg | Method and device for recognizing cornering and for stabilizing a vehicle in case of over-steered cornering |
| CN1948066A (en) * | 2005-10-13 | 2007-04-18 | 丰田自动车株式会社 | Vehicle with different level of devices for inhibiting over steering or insufficient steering |
| WO2009022014A1 (en) * | 2007-08-16 | 2009-02-19 | Continental Teves Ag & Co. Ohg | System and method for stabilizing a motor vehicle |
| CN101423063A (en) * | 2007-10-30 | 2009-05-06 | 福特全球技术公司 | Vehicle stability control, that reduces the speed of the vehicle to correct oversteer/understeer |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19832484A1 (en) * | 1998-02-07 | 1999-08-12 | Itt Mfg Enterprises Inc | Method and device for recognizing cornering, in particular oversteered cornering and for stabilizing a vehicle during oversteered cornering |
| DE10054647A1 (en) * | 2000-11-03 | 2002-05-08 | Daimler Chrysler Ag | Procedure for regulating driving stability |
| GB0106924D0 (en) * | 2001-03-20 | 2001-05-09 | Lucas Industries Ltd | Oversteer steering assistance controller |
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2010
- 2010-09-09 DE DE201010037417 patent/DE102010037417B3/en active Active
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- 2011-08-26 CN CN201110248536.1A patent/CN102407847B/en active Active
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| US5341297A (en) * | 1991-07-13 | 1994-08-23 | Mercedes-Benz Ag | Apparatus and method for preventing instabilities in vehicle handling |
| JPH10287146A (en) * | 1997-04-16 | 1998-10-27 | Unisia Jecs Corp | Vehicle motion control device |
| US6580995B1 (en) * | 1998-02-07 | 2003-06-17 | Continental Teves Ag & Co., Ohg | Method and device for recognizing cornering and for stabilizing a vehicle in case of over-steered cornering |
| CN1948066A (en) * | 2005-10-13 | 2007-04-18 | 丰田自动车株式会社 | Vehicle with different level of devices for inhibiting over steering or insufficient steering |
| WO2009022014A1 (en) * | 2007-08-16 | 2009-02-19 | Continental Teves Ag & Co. Ohg | System and method for stabilizing a motor vehicle |
| CN101423063A (en) * | 2007-10-30 | 2009-05-06 | 福特全球技术公司 | Vehicle stability control, that reduces the speed of the vehicle to correct oversteer/understeer |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102407847A (en) | 2012-04-11 |
| DE102010037417B3 (en) | 2011-12-01 |
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