Data processing: vehicles – navigation – and relative location – Vehicle control – guidance – operation – or indication
Reexamination Certificate
1999-09-24
2001-11-20
Cuchlinski, Jr., William A. (Department: 3661)
Data processing: vehicles, navigation, and relative location
Vehicle control, guidance, operation, or indication
C701S036000, C701S045000, C701S066000, C180S282000, C318S586000, C340S425500, C434S061000, C172S002000, C172S004500
Reexamination Certificate
active
06321141
ABSTRACT:
FIELD OF THE INVENTION
The present invention relates to a method and a device for detecting a tendency of a vehicle to tip.
BACKGROUND INFORMATION
Methods and devices for detecting a tendency of a vehicle to tip are known in a great variety of modifications from the related art.
German Patent No. 44 16 991 describes a method and a device for warning the driver of a truck about the danger of tipping when cornering. To do so, the vehicle type and the status data relevant for the risk of tipping are determined before the vehicle enters the curve, and the tipping risk or the critical velocity crucial for the latter is ascertained as a function of the vehicle center of gravity and the curve radius. A signal prompting the driver to reduce his speed is triggered when the prevailing traveling speed of the vehicle establishes the risk of tipping, or a predefined safety margin from the risk of tipping is no longer met. The vehicle traveling speed at which there is with certainty no danger of tipping is ascertained on the basis of a tipping equation. The tipping equation includes, inter-alia, the traveling speed, the curve radius traveled by the vehicle, the height of the vehicle center of gravity over the roadway, as well as the imbalance of the wheel loads. The wheel loads are ascertained with the aid of wheel-load sensors embedded in the roadway. If the vehicle traveling speed falls short of a predefined safety margin relative to the traveling speed at the limit of the danger of tipping, then a signal is generated warning the vehicle driver about the excessive speed when navigating the curve. The signal indicating the excessive traveling speed is triggered until the respective measured traveling speed is reduced to an extent ruling out any danger of tipping. German Patent No. 44 16 991 also describes that the slippage of the wheels of the respective vehicle on the roadway can be ascertained and taken into consideration when assessing the danger of tipping.
An object of the present invention is to improve the method for detecting a tendency of a vehicle to tip.
SUMMARY OF THE INVENTION
A tendency of a vehicle to tip about a vehicle axis oriented in the longitudinal direction of the vehicle is detected using a method according to the present invention. To do so, a variable is ascertained describing the dynamics of the vehicle linear motion. The detection strategy used for detecting a tendency of the vehicle to tip about a vehicle axis oriented in the longitudinal direction of the vehicle is selected from at least two detection strategies, at least as a function of the variable describing the dynamics of the vehicle linear motion, and/or the detection strategy used for detecting a tendency of the vehicle to tip about a vehicle axis oriented in the longitudinal direction of the vehicle is adapted, at least as a function of the variable describing the dynamics of the vehicle linear motion, to the respective existing dynamics of the vehicle linear motion.
At this point, it should be noted that when hereinafter the term “tendency of the vehicle to tip” is used, it is intended to mean the “tendency of the vehicle to tip about a vehicle axis oriented in the longitudinal direction of the vehicle.” The wording “a vehicle axis oriented in the longitudinal direction of the vehicle” should be understood as follows: First of all, the vehicle axis about which the vehicle has a tendency to tip can be the actual longitudinal vehicle axis. Secondly, it can be a vehicle axis which is rotated by a certain angle with respect to the actual longitudinal vehicle axis. In this case, it is unimportant whether or not the rotated vehicle axis passes through the center of gravity of the vehicle. The case of the rotated vehicle axis should also permit an orientation of the vehicle axis at which the vehicle axis corresponds either to a diagonal axis of the vehicle or to an axis parallel to this.
The selection of the detection strategy as a function of a variable describing the dynamics of the vehicle linear motion and/or the adaptation of the detection strategy, as a function of a variable describing the dynamics of the vehicle linear motion, to the respective existing dynamics of the vehicle linear motion, substantiates the advantage compared to the related art, that the detection of the tendency of the vehicle to tip is always optimally adapted to the vehicle situation.
A method for detecting a tendency of the vehicle to tip may be advantageously utilized within the framework of a method for stabilizing the vehicle. Such a method for stabilization can advantageously be a method for preventing the vehicle from overturning.
In response to the existence of a tendency of the vehicle to tip, at least braking interventions at at least one wheel and/or engine interventions and/or interventions in the chassis actuators are advantageously carried out to stabilize the vehicle, in particular, to prevent the vehicle from overturning.
For at least one wheel, a variable describing the rotary motion of the representative wheel, in particular, a variable describing the wheel speed, is advantageously ascertained. The variable describing the dynamics of the vehicle linear motion, which corresponds, in particular to the drive slip and/or brake slip ascertained for at least one wheel and prevailing at this wheel, is advantageously ascertained at least as a function of the variable, ascertained for at least one wheel, which describes the rotary motion of the representative wheel. A further advantage is that a tendency of the vehicle to tip is detected at least as a function of the variable, ascertained for at least one wheel, which describes the rotary motion of the representative wheel.
The absolute value of the variable which describes the dynamics of the vehicle linear motion is advantageously compared to at least one corresponding threshold value. The detection strategy utilized is selected and/or adapted as a function of this comparison.
A variable describing the wheel properties is ascertained for at least one wheel, in particular, a variable describing the diameter or the radius of the respective wheel. Advantageously, at least one of the at least two detection strategies is carried out at least as a function of the variable, ascertained for at least one wheel, which describes the wheel properties of the respective wheel. It has proven to be advantageous if the variable describing the properties of the wheel is ascertained at least as a function of a variable describing the wheel speed of the representative wheel, a variable describing the vehicle speed, a variable describing the dynamics of the vehicle lateral motion, and a variable describing the geometry of the vehicle.
The absolute value of the variable which describes the dynamics of the vehicle linear motion is compared to at least one corresponding threshold value. Advantageously, a first of the at least two detection strategies is carried out when the absolute value of the variable is less than the at least one corresponding threshold value. In this case, the first detection strategy is carried out at least as a function of the variable, ascertained in the prevailing time increment for the at least one wheel, which describes the wheel properties. Advantageously, a second of the at least two detection strategies is carried out when the absolute value of the variable is greater than the at least one corresponding threshold value. In this case, the second detection strategy is carried out at least as a function of the variable, ascertained in a previous time increment for the at least one wheel, which describes the wheel properties.
According to a first of the at least two detection strategies, various queries are carried out. Advantageously, a tendency for the vehicle to tip about a vehicle axis oriented in the longitudinal direction of the vehicle exists:
When for at least one wheel, the value of the variable which quantitatively describes the wheel properties is greater than a first threshold value. Or when for at least one wheel, the value of the variable which quanti
Cuchlinski Jr. William A.
Kenyon & Kenyon
Mancho Ronnie
Robert & Bosch GmbH
LandOfFree
Method and device for detecting motor vehicle tilt does not yet have a rating. At this time, there are no reviews or comments for this patent.
If you have personal experience with Method and device for detecting motor vehicle tilt, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Method and device for detecting motor vehicle tilt will most certainly appreciate the feedback.
Profile ID: LFUS-PAI-O-2609002