Data processing: vehicles – navigation – and relative location – Vehicle control – guidance – operation – or indication
Reexamination Certificate
1999-05-12
2001-01-16
Cuchlinski, Jr., William A. (Department: 3661)
Data processing: vehicles, navigation, and relative location
Vehicle control, guidance, operation, or indication
C701S065000, C701S094000, C280S005502, C280S005506, C303S139000
Reexamination Certificate
active
06175781
ABSTRACT:
The invention relates to a method for detecting laterally inclined bends.
In determining or assessing a driving situation within the scope of a vehicle dynamics stability controller, such as in ESP (Electronic Stability Program), errors arise in evaluating the vehicle state when traversing a laterally inclined bend which is distinguished by a side tilt with respect to the horizontal. One reason for this is the fact that parameters which characterize the respective vehicle state are additionally influenced by gravitation or centrifugal forces. A laterally inclined bend can be traversed in the extreme case without actuating the steering wheel. A vehicle dynamics stability controller perceives absence of the steering wheel displacement, but detects a rotation rate with reference to the Z-axis and a lateral acceleration with reference to the Y-axis. The result of this is that the vehicle dynamics stability controller is activated and initiates incorrect interventions in the vehicle dynamics. Instances of incorrect tripping of motor vehicle safety systems can also occur. For this reason, it is necessary in the extreme case, for example, for the ESP to be switched off by the driver when a laterally inclined bend is being traversed.
DE 43 25 413 C2 discloses a method for determining parameters which characterize the driving condition of a motor vehicle, such as rotation rate, lateral acceleration, steering angle, speed, acceleration, wheel speeds etc. The angle of inclination is required here as a state variable for exact calculation of the vehicle state. However, it is disadvantageous in this case that no indication is given of how an angle of inclination is detected qualitatively or quantitatively.
Various methods are known for detecting the vehicle inclination and/or that of the roadway inclination with respect to the horizontal.
EP 0 769 701 A1 discloses a device for a vehicle which contains two acceleration sensors. These two acceleration sensors are arranged at a defined angle to the horizontal plane. Without vehicle inclination, the acceleration sensors indicate the same deviation from the vehicle lateral acceleration actually present. It is possible for the vehicle inclination, and from this the actual vehicle acceleration, to be calculated in accordance with the vehicle inclination by forming the difference and sum of the two sensor signals.
However, it is disadvantageous in this case that a plurality of acceleration sensors are required, and that these acceleration sensors serve only to detect a side tilt of the motor vehicle. This solution turns out to be very cost intensive. Again, it requires additional space. A further disadvantage consists in the two identical, but differently installed measuring systems do not reliably detect the correct angle of inclination of the roadway in every driving situation, and falsely indicate an angle of inclination in the case of swerving or roadway bumpiness.
Another method for determining the roadway inclination in the longitudinal direction is disclosed in DE 44 43 522 A1. Here, a freely rolling state, at least of one driven axle of the vehicle, is detected at least once. In this state, the wheels of the driven axles also roll without slipping The differential speed of a non-driven axle is determined for the purpose of balancing the wheel speeds between the driven axles. The value of the braking ratio, that is to say the vehicle deceleration, is measured simultaneously. The values determined for the differential speed and the braking ratios are used to determine the value of an inclination constant. The roadway inclination can be determined with the aid of the inclination constant from the values determined for the differential speed and braking ratio.
It is disadvantageous in this case that only the inclination of the roadway in the longitudinal direction can be measured, and that a freely rolling state must be brought about for a measurement, in order to detect a roadway inclination at all.
SUMMARY OF THE INVENTION
It is therefore the object of the invention to specify a method which overcomes these disadvantages and increases the reliability of such systems.
A parameter specific to the driving condition, such as, for example, the rotation rate, is simultaneously measured with different measuring systems which are present in the vehicle and are based on different physical methods, and a comparison of the magnitudes of these values of the parameter obtained in different ways is used to detect a transversely directed roadway inclination.
The advantages achieved with the invention are the reliability of this detection of inclination and the ease of handling since, for example, a rotation rate sensor, a lateral acceleration sensor and a steering angle sensor are installed in most vehicles. These three different systems can be used in each case to measure directly the same parameter of the vehicle which is specific to the driving condition, for example the rotation rate, or to determine it via the measured lateral acceleration and via the steering angle with the aid of the measured speed In most applications, it suffices to detect whether or not there is any roadway inclination present at all, without detecting an exact value of the roadway inclination. It can be ensured thereby that, for example, the dynamic vehicle controller knows whether or not it is operating accurately. Again, such an uncomplicated, quick detention of a roadway inclination can serve the purpose of activating or deactivating a more complicated system for exactly determining the angle of inclination.
Advantageous developments follow from other aspects of the inventions. It is possible to distinguish between a right-hand bend and a left-hand bend with an inclined roadway by a simple comparison of magnitudes. If an angle of inclination is detected with the aid of this method, and if this angle of inclination is then measured exactly by a further system, an advantageous version of this method can be used to distinguish under all possible conditions and always beyond doubt between an actual roadway inclination or another vehicle state. It is possible to differentiate roadway bumpiness, swerving processes and tripping processes reliably from traversing a laterally inclined bend.
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Gesele Frank
Maier Holger
Calcaterra Mark P.
Cuchlinski Jr. William A.
Daimler-Chrysler AG
Hernandez Olga
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