公开(公告)号：EP1625039A1

公开(公告)日：2006-02-15

申请号：EP04741508.8

申请日：2004-05-04

申请人： Continental Teves AG & Co. oHG

发明人： LÜDERS, Ulrich ,  OEHLER, Rainer ,  RASTE, Thomas ,  RAITZ VON FRENTZ, Hubertus

IPC分类号： B60K23/08 ,  B60K23/04

CPC分类号： B60K28/165 ,  B60K23/04 ,  B60K23/0808 ,  B60W2520/14

摘要： The invention relates to a method for regulating the driving dynamics of a vehicle, according to which at least one wheel of the vehicle is impinged upon by a specific torque as a result of a clutch being controlled that transmits torque to the wheel and/or as a result of a differential being controlled that distributes torque to said wheel and at least one additional wheel. Said method is characterized in that a torque value is determined in accordance with a first and a second yawing moment value. The first yawing moment value is determined in the form of a yawing moment value generating a set point yaw rate value based on a vehicle reference model while the second yawing moment value is determined according to the deviation between the set point yaw rate value and a detected real yaw rate value as well as according to a deviation between a set point value and a real value of an additional driving state variable that differs from the yaw rate. The invention further relates to a device that is suitable for carrying out said method.

摘要翻译： 本发明涉及一种用于调节车辆的行驶动态特性的方法，根据该方法，由于控制离合器以将扭矩传递到车轮和/或作为向车轮传递扭矩的结果，车辆的至少一个车轮由特定扭矩撞击 控制差速器的结果将扭矩分配给所述车轮和至少一个附加车轮。 所述方法的特征在于，扭矩值根据第一和第二横摆力矩值来确定。 第一横摆力矩值以基于车辆参考模型生成设定点横摆率值的横摆力矩值的形式确定，而第二横摆力矩值根据设定值横摆率值与检测到的偏差 实际偏航率值以及根据设定值与偏航率不同的附加驾驶状态变量的实际值之间的偏差来确定。 本发明还涉及适用于实施所述方法的装置。

公开(公告)号：EP1483143A1

公开(公告)日：2004-12-08

申请号：EP03743341.4

申请日：2003-02-26

申请人： Continental Teves AG & Co. OHG

发明人： LÜDERS, Ulrich ,  OEHLER, Rainer ,  RASTE, Thomas ,  RAITZ VON FRENTZ, Hubertus

IPC分类号： B60T8/00

CPC分类号： B60W40/068 ,  B60T8/1725 ,  B60T2210/12 ,  B60T2240/03 ,  B60W2510/205 ,  B60W2520/10 ,  B60W2520/105 ,  B60W2520/125 ,  B60W2520/14 ,  B60W2520/26 ,  B60W2520/28 ,  B60W2530/20

摘要： Currently available systems for regulating driving dynamics, such as for example ESP or TCS, require in the driving dynamical limit range information about the actual maximum coefficient of friction (ν-max) between tires and roadway to function reliably. A proven approach is to use, once the regulation is active, the actual utilization of grip as the maximum coefficient of friction. The invention relates to a method for determining the actual maximum coefficient of friction (ν-max) independently from the activation of the regulation. According to the inventive method, values (C_x, C_y) are permanently determined that represent the utilization of grip in the longitudinal and/or transverse direction, based on measured and/or estimated variables that represent the actual longitudinal forces (F_x), lateral forces (F_y) and vertical forces (F_z) acting upon the individual wheels and tires, while using the measured or calculated actual state variables that represent the slip angle (α) and/or the slip angle velocity (α) and/or the longitudinal slip (η) and/or the longitudinal slip velocity (η). The determined values (C_x, C_y) are compared with threshold values (S_x, S_y) and are evaluated to determine the maximum coefficient of friction (ν-max) while using additional auxiliary variables if the resulting values of comparison are smaller than the threshold values.

公开(公告)号：EP1625039B1

公开(公告)日：2008-10-01

申请号：EP04741508.8

申请日：2004-05-04

申请人： Continental Teves AG & Co. oHG

发明人： LÜDERS, Ulrich ,  OEHLER, Rainer ,  RASTE, Thomas ,  RAITZ VON FRENTZ, Hubertus

IPC分类号： B60K23/08 ,  B60K23/04

CPC分类号： B60K28/165 ,  B60K23/04 ,  B60K23/0808 ,  B60W2520/14

摘要： The invention relates to a method for regulating the driving dynamics of a vehicle, according to which at least one wheel of the vehicle is impinged upon by a specific torque as a result of a clutch being controlled that transmits torque to the wheel and/or as a result of a differential being controlled that distributes torque to said wheel and at least one additional wheel. Said method is characterized in that a torque value is determined in accordance with a first and a second yawing moment value. The first yawing moment value is determined in the form of a yawing moment value generating a set point yaw rate value based on a vehicle reference model while the second yawing moment value is determined according to the deviation between the set point yaw rate value and a detected real yaw rate value as well as according to a deviation between a set point value and a real value of an additional driving state variable that differs from the yaw rate. The invention further relates to a device that is suitable for carrying out said method.

公开(公告)号：EP1636076B1

公开(公告)日：2015-12-30

申请号：EP04734844.6

申请日：2004-05-26

申请人： Continental Teves AG & Co. oHG

发明人： WANKE, Peter ,  LÜDERS, Ulrich ,  OKUMOTO, Nobuaki ,  GÄRTNER, Michael

IPC分类号： B60T8/1755

CPC分类号： B60T8/1755 ,  B60T2270/313 ,  B60T2270/413 ,  B60T2270/86

公开(公告)号：EP1276649B1

公开(公告)日：2015-08-05

申请号：EP01943243.4

申请日：2001-04-11

申请人： Continental Teves AG & Co. oHG

发明人： LÜDERS, Ulrich ,  OEHLER, Rainer ,  RAITZ VON FRENTZ, Hubertus ,  RASTE, Thomas ,  ROLL, Georg

IPC分类号： B60T8/1755

CPC分类号： B60T8/17551 ,  B60T8/17552 ,  B60T2230/02 ,  B62D6/04

公开(公告)号：EP1636076A1

公开(公告)日：2006-03-22

申请号：EP04734844.6

申请日：2004-05-26

申请人： Continental Teves AG & Co. oHG

发明人： WANKE, Peter ,  LÜDERS, Ulrich ,  OKUMOTO, Nobuaki ,  GÄRTNER, Michael

IPC分类号： B60T8/00

CPC分类号： B60T8/1755 ,  B60T2270/313 ,  B60T2270/413 ,  B60T2270/86

摘要： The invention relates to a method for controlling a process, according to which an actuation parameter is formed in accordance with a control deviation that is determined by comparing a set-point value with a real value of a control variable. The inventive method is characterized in that the real value of the control variable is determined based on a first process model while it is additionally verified whether there is a need for control (10) by determining control needs (20, 30, 40) based on values of the control variable, which are identified by means of additional process models, and associating said control needs (20, 30, 40) with each other by means of logic operations.

公开(公告)号：EP1311416A1

公开(公告)日：2003-05-21

申请号：EP00956417.0

申请日：2000-08-10

申请人： Continental Teves AG & Co. oHG

发明人： LATARNIK, Michael, ,  LÜDERS, Ulrich ,  ROLL, Georg ,  RASTE, Thomas ,  OEHLER, Rainer ,  IZSAK, Karl

IPC分类号： B60T8/00

CPC分类号： B60T8/17551 ,  B60T8/17554 ,  B60T2230/03

摘要： The invention relates to a method and a device for measuring status variables of vehicles, whereby at least one parameter indicating the tendency of a vehicle to tilt around its longitudinal axis is measured and evaluated to detect the control or regulating parameters of the regulating system of a vehicle. In order to react as quickly as possible to the danger of vehicle tilting by conducting a regulating operation, at least one parameter indicating the tilting tendency of the vehicle is measured by continuously detecting said measuring variable in at least one degree of the vehicle on the inner and outer curve based on the measuring variable detected with the aid of wheel or wheel force sensors and which reflect the lateral force exerted on the tire or wheel and/or the contact force exerted on the tire or wheel. The direct forces exerted on the tire or wheels or the parameters derived therefrom and/or the signals formed by the correction variables or values such as filtered parameters are used as control or regulating parameters .

公开(公告)号：EP1276649A1

公开(公告)日：2003-01-22

申请号：EP01943243.4

申请日：2001-04-11

申请人： Continental Teves AG & Co. oHG

发明人： LÜDERS, Ulrich ,  OEHLER, Rainer ,  RAITZ VON FRENTZ, Hubertus ,  RASTE, Thomas ,  ROLL, Georg

IPC分类号： B60T8/00

CPC分类号： B60T8/17551 ,  B60T8/17552 ,  B60T2230/02 ,  B62D6/04

摘要： The invention relates to a method for the online determination of values of the dynamics of vehicle movement of a motor vehicle. The aim of the invention is to improve the quality of control of a motor vehicle and to reduce the demands on the driver. To this end, the inventive method for controlling the dynamics of vehicle movement comprises the following steps: determining estimated output variables &ycircm in accordance with determined and/or estimated input variables u and predetermined or predicted vehicle state variables x and optionally other variables, comparing the estimated output values &ycircm with measured output variables ym, and determining the estimated variables of the dynamics of vehicle movement x(tk/tk) in accordance with the result of said comparison and optionally further criteria.

公开(公告)号：EP1089901B1

公开(公告)日：2002-01-09

申请号：EP99931138.4

申请日：1999-06-22

申请人： Continental Teves AG & Co. oHG

发明人： HERRMANN, Torsten ,  JOKIC, Mile ,  LÜDERS, Ulrich ,  DUIS, Holger ,  ENDRESS, Ralf

IPC分类号： B60T8/00

CPC分类号： B60T8/17551 ,  B60T2270/86

公开(公告)号：EP1089901A1

公开(公告)日：2001-04-11

申请号：EP99931138.4

申请日：1999-06-22

申请人： Continental Teves AG & Co. oHG

发明人： HERRMANN, Torsten ,  JOKIC, Mile ,  LÜDERS, Ulrich ,  DUIS, Holger ,  ENDRESS, Ralf

IPC分类号： B60T8/00

CPC分类号： B60T8/17551 ,  B60T2270/86

摘要： The invention relates to a regulating circuit for regulating the driving stability of a motor vehicle, whereby the determining input variables used to establish the trajectory are inputted into a motor vehicle model circuit that determines, on the basis of motor vehicle reference model simulating the characteristics of said vehicle, at least one setpoint value for a controlled variable according to the parameters stored in the motor vehicle reference model. The inventive regulating circuit is characterised in that at least one of the parameters is varied according to at least one separately determined measured variable.