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    • 6. 发明授权
    • Method and driving dynamics control system for stabilizing a car-trailer combination
    • 用于稳定汽车拖车组合的方法和驾驶动力学控制系统
    • US08046147B2
    • 2011-10-25
    • US12094435
    • 2006-11-16
    • Dirk WaldbauerUrs BauerLothar RogowskiTobias Preusser
    • Dirk WaldbauerUrs BauerLothar RogowskiTobias Preusser
    • B60T8/24
    • B60T8/1708B60T8/1755B60T2230/06B60T2260/02B62D6/003B62D13/00B62D15/025
    • When swaying motions of a trailer or semi-trailer of a car-trailer combination are encountered, input signals which are taken into consideration to calculate a reference signal frequently include also oscillation components, due to which driving dynamics control for stabilization of the car-trailer combination can become very unreliable. To enhance the reliability of driving dynamics control of this type, a method is disclosed in which an input signal (Y) is sensed that includes signal oscillations which are due to a swaying motion of the trailer or semi-trailer and are superimposed on a base component (YBasis) of the input signal (Y). A reference signal is calculated from the input signal (Y), in which case the calculation is executed in such a way that the reference signal by approximation corresponds to a reference signal which is determined from the base component (YBasis) of the input signal (Y). A correcting variable for influencing the driving behavior of the towing vehicle of the car-trailer combination is then determined depending on a deviation between the reference signal and a detected actual signal. Furthermore, the invention discloses a driving dynamics control system which is appropriate to implement the method.
    • 当遇到拖车组合的拖车或半拖车的摇摆运动时,考虑到计算参考信号的输入信号也频繁地包括振动分量,由此驾驶动态控制用于轿车拖车的稳定 组合可能变得非常不可靠。 为了提高这种类型的驾驶动态控制的可靠性,公开了一种感测输入信号(Y)的方法,该输入信号(Y)包括由拖车或半拖车的摇摆运动引起的并且叠加在基座上的信号振荡 输入信号(Y)的分量(YBasis)。 从输入信号(Y)计算参考信号,在这种情况下,以通过近似的参考信号对应于从输入信号的基本分量(YBasis)确定的参考信号 Y)。 然后根据参考信号和检测到的实际信号之间的偏差来确定用于影响汽车 - 拖车组合的牵引车辆的驾驶行为的校正变量。 此外,本发明公开了一种适用于实施该方法的驾驶动态控制系统。
    • 8. 发明授权
    • Method and device for detecting a braking situation
    • 用于检测制动情况的方法和装置
    • US06742851B1
    • 2004-06-01
    • US09463723
    • 2000-04-28
    • Jürgen WoywodRalph GronauGeorg RollDirk Waldbauer
    • Jürgen WoywodRalph GronauGeorg RollDirk Waldbauer
    • B60T860
    • B60T8/1755B60T2201/16Y10S303/02
    • A detection device for detecting braking of a vehicle during cornering on a road surface where the coefficient of friction of the road surface on a wheel on the outside of a curve is lower than on a wheel on the inside of the curve includes a comparison device for comparing the brake force or the brake force reduction of at least one wheel on the outside of a curve with the brake force or the brake force reduction of at least one wheel on the inside of the curve, and a device for generating a detection signal or initiating appropriate measures when the brake force of at least one wheel on the outside of a curve is lower or reduced to a greater degree than the brake force of at least one wheel on the inside of the curve. A device for influencing yaw torques has a so-called detection device and a reduction device which reduces the brake force in a brake of a wheel on the inside of a curve.
    • 一种检测装置,用于在曲线外侧的车轮上的路面的摩擦系数低于曲线内侧的车轮上的道路面上的转弯期间检测车辆的制动,包括:比较装置, 将曲线外侧的至少一个车轮的制动力或制动力减小与曲线内部的至少一个车轮的制动力或制动力减小进行比较,以及用于产生检测信号的装置或 当曲线外侧的至少一个车轮的制动力比曲线内侧的至少一个车轮的制动力更小或降低到更大程度时启动适当的措施。 用于影响横摆转矩的装置具有所谓的检测装置和减小装置,其减小曲线内侧的车轮的制动器中的制动力。
    • 9. 发明授权
    • Method and device for detecting unstable braking and controlling braking pressure
    • 用于检测不稳定制动和控制制动压力的方法和装置
    • US06435627B1
    • 2002-08-20
    • US09529209
    • 2000-06-16
    • Georg RollJürgen WoywodDirk WaldbauerWolfgang Kling
    • Georg RollJürgen WoywodDirk WaldbauerWolfgang Kling
    • B60T872
    • B60T8/1755B60T2201/16
    • Disclosed is a method for identifying a critical braking operation of a two-track vehicle during cornering, which features the steps of detecting the running behaviour of a left-hand side wheel and of a right-hand side wheel, of comparing the running behaviour and/or of evaluating the time variation of at least one left-hand side wheel or right-hand side wheel, and of identifying a critical braking operation on the basis of the result of the comparison and/or of the result of the evaluation. As a reaction, there may ensue the reduction of the braking pressure of a wheel on the inside of the corner in response to identification. A device for identifying a critical braking operation of a two-track vehicle during cornering includes a detecting device (403a, b, 408a, b) for detecting the running behaviour of a left-hand side wheel and of a right-hand side wheel (301a-d), a first comparing device (409-412) for comparing the running behaviour and/or an evaluating device (404-407) for evaluating the time variation of at least one left-hand side wheel or one right-hand side wheel, and an identifying device (413) for identifying a critical braking operation on the basis of the output of the comparing device and/or of the output of the evaluating device. Moreover, a modifying device (315) can be provided for reducing the braking pressure of a wheel on the inside of the corner in response to identification.
    • 本发明公开了一种在转弯期间识别双轨车辆的关键制动操作的方法,其特征在于检测左侧车轮和右侧车轮的行驶行为,比较行驶行为和 或者评估至少一个左侧轮或右侧轮的时间变化,以及基于比较结果和/或评估结果来识别关键制动操作。 作为反应,响应于识别,可能导致在拐角内侧的车轮的制动压力的降低。 用于在转弯期间识别双轨车辆的关键制动操作的装置包括:检测装置(403a,b,408a,b),用于检测左侧车轮和右侧车轮的行驶行为 301a-d),用于比较运行行为的第一比较装置(409-412)和/或用于评估至少一个左侧轮或一个右手侧的时间变化的评估装置(404-407) 车轮,以及用于基于比较装置的输出和/或评估装置的输出来识别临界制动操作的识别装置(413)。 此外,可以提供改变装置(315),用于响应于识别而减小角内侧的车轮的制动压力。
    • 10. 发明授权
    • Method and device for improving the handling characteristics of a vehicle while braking during cornering
    • 用于在转弯期间制动时改善车辆的操纵特性的方法和装置
    • US06273529B1
    • 2001-08-14
    • US09581979
    • 2000-08-10
    • Jürgen WoywodDirk WaldbauerGeorg Roll
    • Jürgen WoywodDirk WaldbauerGeorg Roll
    • B60T872
    • B60T8/1755B60T2201/16B60T2220/03
    • A system including a method for improving the driving performance of a vehicle when braking during cornering comprises the following steps: detecting cornering and the direction of cornering, determining the rolling characteristics of individual wheels, if necessary, influencing the braking pressure of the brake on one wheel or on several wheels according to the rolling characteristics of these wheels, checking the driving condition of the vehicle with respect to whether instability prevails, and modifying the braking pressure of at least one brake of a wheel when an instability is detected during a cornering maneuver extending for a time period that reaches a threshold time period. A device for improving the driving performance of a vehicle while braking during cornering comprises a detection device for detecting a cornering maneuver and the direction of cornering, a determining device for determining the rolling characteristics of individual wheels, an influencing device which optionally influences the braking pressure of the brake on one wheel, a checking device for checking the driving condition of the vehicle as to whether instability prevails, and a modifying device for modifying the braking pressure of at least one brake of a wheel when an instability is detected during cornering extending for a time period which reaches a threshold time period.
    • 一种包括用于在转弯时制动时改善车辆的驾驶性能的方法的系统包括以下步骤:检测转弯和转弯方向,确定各个车轮的滚动特性,如有必要,将制动器的制动压力影响在一个 根据这些轮子的滚动特性,轮子或几个轮子,检查车辆的行驶状况是否不稳定,并且在转弯机动期间检测到不稳定性时修改车轮的至少一个制动器的制动压力 延长达到阈值时间段的时间段。 用于在转弯期间制动时改善车辆的驾驶性能的装置包括用于检测转弯机动和转弯方向的检测装置,用于确定各个车轮的滚动特性的确定装置,可选地影响制动压力的影响装置 一个车轮上的制动器的检查装置,用于检查车辆的行驶状况是否不稳定的检查装置,以及用于在转弯延伸期间检测到不稳定性时修改车轮的至少一个制动器的制动压力的修正装置 达到阈值时间段的时间段。