FR2930479A1 - METHOD FOR DETECTING THE DISCHARGE OF A MOTOR VEHICLE WHEEL - Google Patents
METHOD FOR DETECTING THE DISCHARGE OF A MOTOR VEHICLE WHEEL Download PDFInfo
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- FR2930479A1 FR2930479A1 FR0852729A FR0852729A FR2930479A1 FR 2930479 A1 FR2930479 A1 FR 2930479A1 FR 0852729 A FR0852729 A FR 0852729A FR 0852729 A FR0852729 A FR 0852729A FR 2930479 A1 FR2930479 A1 FR 2930479A1
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000001133 acceleration Effects 0.000 claims abstract description 33
- 238000001514 detection method Methods 0.000 claims description 20
- 150000002500 ions Chemical class 0.000 claims 1
- 238000011217 control strategy Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 2
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/016—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input
- B60G17/0162—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input mainly during a motion involving steering operation, e.g. cornering, overtaking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/018—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the use of a specific signal treatment or control method
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
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- 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
- B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
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- 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
- B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/05—Attitude
- B60G2400/052—Angular rate
- B60G2400/0523—Yaw rate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/10—Acceleration; Deceleration
- B60G2400/106—Acceleration; Deceleration longitudinal with regard to vehicle, e.g. braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/20—Speed
- B60G2400/208—Speed of wheel rotation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/30—Propulsion unit conditions
- B60G2400/39—Brake pedal position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/50—Pressure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/02—Retarders, delaying means, dead zones, threshold values, cut-off frequency, timer interruption
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2600/00—Indexing codes relating to particular elements, systems or processes used on suspension systems or suspension control systems
- B60G2600/12—Sampling or average detecting; Addition or substraction
- B60G2600/124—Error signal
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/21—Traction, slip, skid or slide control
- B60G2800/212—Transversal; Side-slip during cornering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/92—ABS - Brake Control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/92—ABS - Brake Control
- B60G2800/922—EBV - Electronic brake force distribution
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/93—Skid or slide control [ASR]
-
- 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
- B60T2240/00—Monitoring, detecting wheel/tyre behaviour; counteracting thereof
- B60T2240/06—Wheel load; Wheel lift
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transportation (AREA)
- Regulating Braking Force (AREA)
Abstract
Procédé de détection du décollement de la roue arrière intérieure au virage d'un véhicule automobile équipé d'une unité centrale électronique et de quatre capteurs de vitesses de rotation des roues, caractérisé en ce qu'il consiste, pour un sens de virage déterminé, et dans le cas où la roue avant extérieure n'est pas freinée, à calculer la valeur absolue de la différence entre l'accélération (omega21) de la roue arrière intérieure au virage et celle (omega12) de la roue avant extérieure au virage et à comparer cette valeur absolue avec un premier seuil (SON), et si cette différence est supérieure audit seuil, à détecter le décollement de la roue arrière intérieure au virage.A method of detecting the detachment of the rear inner wheel at the turn of a motor vehicle equipped with an electronic central unit and four wheel speed sensors, characterized in that it consists, for a determined direction of turn, and in the case where the outer front wheel is not braked, to calculate the absolute value of the difference between the acceleration (omega21) of the inner rear wheel at the turn and that (omega12) of the front outer wheel at the turn and comparing this absolute value with a first threshold (SON), and if this difference is greater than said threshold, detecting the detachment of the rear inner wheel at the turn.
Description
1 1
Procédé de détection du décollement d'une roue de véhicule automobile. Method for detecting the detachment of a motor vehicle wheel
L'invention concerne un procédé de détection du décollement d'une roue de véhicule automobile pendant les virages, à partir des informations délivrées par les capteurs de vitesses de roue existant sur le véhicule, en particulier de la roue arrière intérieure au virage. The invention relates to a method for detecting the detachment of a motor vehicle wheel during the turns, from the information supplied by the wheel speed sensors existing on the vehicle, in particular the rear wheel inside the turn.
Les véhicules actuels sont généralement équipés de systèmes actifs de sécurité, pour le contrôle de la trajectoire, le freinage ou l'anti-patinage notamment, et un bon contrôle de ces systèmes est basé sur une détection fiable de la situation du véhicule. Une des situations qui peut être critique pour un véhicule est le décollement d'une de ses roues arrière en cas de virage. Current vehicles are generally equipped with active safety systems, such as for trajectory control, braking or traction control, and good control of these systems is based on reliable detection of the vehicle situation. One of the situations that can be critical for a vehicle is the detachment of one of its rear wheels in case of a turn.
Actuellement, une solution à ce problème utilise des capteurs de débattement, qui ont l'avantage d'être précis mais sont coûteux. Une autre solution utilise un modèle simple d'estimation de la charge aux quatre roues à partir des reports de charges dus à l'accélération latérale et à l'accélération longitudinale que subit le véhicule en virage. Cette solution utilise des capteurs déjà montés sur le véhicule mais elle présente l'inconvénient de n'être pas très robuste. Currently, a solution to this problem uses deflection sensors, which have the advantage of being precise but are expensive. Another solution uses a simple model for estimating the load on all four wheels from the load reports due to the lateral acceleration and the longitudinal acceleration experienced by the vehicle while cornering. This solution uses sensors already mounted on the vehicle but it has the disadvantage of not being very robust.
Le but de l'invention est de pallier ces inconvénients en proposant la détection du décollement de la roue arrière intérieure au virage, à partir d'informations délivrées par les capteurs de vitesses de rotation des roues qui sont montés sur le véhicule pour le fonctionnement de systèmes actifs de contrôle du fonctionnement du véhicule. Plus la détection d'une roue décollée aura lieu tôt, plus la stratégie de contrôle du système actif, en particulier du contrôle de trajectoire, pourra être adaptée en cas de situation d'urgence. The object of the invention is to overcome these drawbacks by proposing the detection of the detachment of the rear inner wheel at the turn, from information delivered by the rotational speed sensors of the wheels which are mounted on the vehicle for the operation of active systems for controlling the operation of the vehicle. The sooner the detection of a peeled wheel, the more active the control strategy of the active system, in particular the trajectory control, can be adapted in case of emergency.
Pour cela, un premier objet de l'invention est un procédé de détection du décollement de la roue arrière intérieure au virage d'un véhicule automobile, équipé d'une unité centrale électronique et de quatre capteurs de vitesses de rotation des roues, caractérisé en ce qu'il consiste, pour un sens de virage déterminé, et dans le cas où la roue avant extérieure n'est pas freinée, à calculer la valeur absolue de la différence entre l'accélération de la roue arrière intérieure au virage et celle de la roue avant extérieure au virage, et à comparer cette valeur absolue avec un premier seuil SoN, et si cette différence est supérieure audit seuil, à détecter le décollement de la roue arrière intérieure au virage. For this purpose, a first object of the invention is a method for detecting the detachment of the inner rear wheel at the turn of a motor vehicle, equipped with an electronic central unit and four wheel speed sensors, characterized in that what it consists, for a determined direction of turn, and in the case where the external front wheel is not braked, to calculate the absolute value of the difference between the acceleration of the rear inner wheel at the turn and that of the front wheel outside the turn, and to compare this absolute value with a first threshold SoN, and if this difference is greater than said threshold, detecting the detachment of the rear inner wheel at the turn.
2 2
Selon une autre caractéristique du procédé de détection, dans le cas où la valeur absolue de la différence entre l'accélération de la roue avant extérieure au virage et celle de la roue arrière intérieure au virage est inférieure au premier seuil SON, il consiste à comparer ladite valeur absolue de la différence d'accélération avec un second seuil SOFF, inférieur au premier SON, et si cette différence est inférieure audit second seuil, à détecter le non décollement de la roue arrière intérieure. According to another characteristic of the detection method, in the case where the absolute value of the difference between the acceleration of the front outer wheel at the turn and that of the inner rear wheel at the turn is less than the first threshold SON, it consists in comparing said absolute value of the acceleration difference with a second threshold SOFF, lower than the first SON, and if this difference is lower than said second threshold, detecting the non-detachment of the inner rear wheel.
Un deuxième objet de l'invention est un procédé de détection du décollement de la roue arrière intérieure au virage d'un véhicule automobile équipé d'une unité centrale électronique et de quatre capteurs de vitesses de rotation des roues, caractérisé en ce qu'il consiste, pour un sens de virage déterminé et dans le cas où la roue avant extérieure est freinée, à calculer la valeur absolue de la différence entre la décélération de la roue arrière intérieure au virage et l'accélération longitudinale yL mesurée sur le véhicule, à comparer ladite valeur absolue avec un premier seuil S'oN , et si cette valeur absolue est supérieure audit seuil, à détecter le décollement de la roue arrière intérieure. A second object of the invention is a method of detecting the detachment of the inner rear wheel at the turn of a motor vehicle equipped with an electronic central unit and four wheel speed sensors, characterized in that consists, for a determined turning direction and in the case where the outer front wheel is braked, to calculate the absolute value of the difference between the deceleration of the inner rear wheel at the turn and the longitudinal acceleration yL measured on the vehicle, to comparing said absolute value with a first threshold S'oN, and if this absolute value is greater than said threshold, detecting the detachment of the inner rear wheel.
Selon une autre caractéristique du procédé de détection, dans le cas où la valeur absolue de la différence entre la décélération de la roue arrière intérieure au virage et l'accélération longitudinale est inférieure au premier seuil S'oN, il consiste à comparer ladite valeur absolue de la différence d'accélération avec un second seuil S'OFF, inférieur au premier S'oN, et si cette différence est inférieure au second seuil, à détecter le non décollement de la roue arrière intérieure. According to another characteristic of the detection method, in the case where the absolute value of the difference between the deceleration of the rear inner wheel at the turn and the longitudinal acceleration is less than the first threshold S'oN, it consists in comparing the said absolute value the difference in acceleration with a second threshold S'OFF, lower than the first S'oN, and if this difference is lower than the second threshold, detecting the non-detachment of the inner rear wheel.
Selon une autre caractéristique du procédé, les premier SON , S'ON et second S'OFF , SOFF seuils d'accélération dépendent de la vitesse de lacet du véhicule. According to another characteristic of the method, the first SON, S'ON and second S'OFF, SOFF acceleration thresholds depend on the yaw rate of the vehicle.
D'autres caractéristiques et avantages de l'invention apparaîtront à la lecture de la description illustrée par les figures suivantes, qui sont : - la figure 1 : un organigramme des différentes étapes du procédé, - la figure 2: la vitesse des roues avant extérieure et arrière intérieure respectivement au virage. 35 Le principe de l'invention est de comparer les accélérations des roues avant extérieure et arrière intérieure à un virage, qui sont définies par le sens du virage, afin30 Other features and advantages of the invention will appear on reading the description illustrated by the following figures, which are: FIG. 1: a flowchart of the various steps of the method, FIG. 2: the speed of the outer front wheels and inner rear respectively to the turn. The principle of the invention is to compare the accelerations of the front and rear inner wheels at a turn, which are defined by the direction of the turn, so that
3 de détecter si la roue arrière intérieure se décolle de la chaussée. Le sens du virage, vers la droite ou la gauche, est défini par le signe de la vitesse de lacet. 3 to detect if the inner rear wheel is peeling off the roadway. The direction of the turn, to the right or the left, is defined by the sign of the yaw rate.
Pour cela, la première étape e1) du procédé, selon l'organigramme de la figure 1, vérifie le signe de la vitesse de lacet yr , pour connaître le sens du virage. Puis, il comporte une deuxième étape e2) destinée à vérifier si la roue avant extérieure au virage précédemment défini n'est pas freinée. Pour cela, cette étape vérifie si la pression P12 ou Pä de freinage sur la roue R12 ou Rä selon le sens du virage, est nulle, ou de façon pratique, si elle est inférieure à une valeur e proche de zéro. Cette pression de freinage est délivrée par un capteur du bloc hydraulique de freinage. For this, the first step e1) of the method, according to the flowchart of Figure 1, verifies the sign of yer speed yr, to know the direction of the turn. Then, it comprises a second step e2) intended to check if the front wheel outside the curve previously defined is not braked. For this, this step checks whether the pressure P12 or Pa braking on the wheel R12 or Rä in the direction of the turn, is zero, or in practice, if it is less than a value e close to zero. This braking pressure is delivered by a sensor of the hydraulic brake unit.
Si tel est le cas, l'étape suivante e3) calcule la valeur absolue de la différence entre l'accélération 0)2, de la roue arrière intérieure, R21 par exemple, et l'accélération (),2. de la roue avant extérieure R12 dans ce cas. Ces accélérations sont obtenues par dérivée première en fonction du temps des vitesses de rotation w21 et w12 desdites roues. If this is the case, the next step e3) calculates the absolute value of the difference between the acceleration 0) 2, the inner rear wheel, for example R21, and the acceleration (), 2. of the outer front wheel R12 in this case. These accelerations are obtained by first derivative as a function of time of the rotation speeds w21 and w12 of said wheels.
La valeur absolue de cette différence ainsi obtenue est alors comparée à un premier seuil SON (étape e4) et si elle lui est supérieure, le procédé détecte le décollement de cette roue arrière intérieure à l'étape e5). Dans le cas d'un véhicule équipé d'un contrôle de la trajectoire, le procédé décide d'adapter la stratégie de contrôle de la trajectoire du véhicule à l'étape e6). Ce seuil SON est défini préférentiellement en fonction de la vitesse de lacet pour rendre robuste l'information au bruit de mesure. The absolute value of this difference thus obtained is then compared to a first threshold SON (step e4) and if it is higher, the method detects the detachment of the inner rear wheel in step e5). In the case of a vehicle equipped with a trajectory control, the method decides to adapt the strategy of control of the trajectory of the vehicle in step e6). This threshold SON is preferably defined according to the yaw rate to make the information robust to the measurement noise.
Si la valeur absolue de cette différence d'accélération est par contre inférieure à un second seuil SOFF, inférieur au premier seuil SON, à l'étape e7), le procédé détecte le non décollement de la roue arrière à l'étape e8) et peut décider de conserver les paramètres de la stratégie de contrôle de la trajectoire du véhicule à l'étape e9) Dans le cas ou la valeur absolue de la différence d'accélération est comprise entre les seuils SOFF et SON, l'état des roues défini à l'étape précédente est conservé. Pour un même signe de la vitesse de lacet yr , positif sur l'organigramme de la figure 1, si la pression de freinage exercée sur la roue avant extérieure est supérieure à une valeur proche de zéro (étape e1o), le procédé va calculer la valeur absolue de la différence entre la décélération ()Z, de la roue arrière intérieure au virage avec l'accélération longitudinale yL mesurée sur le véhicule, à l'étape e11), ne pouvant plus If the absolute value of this acceleration difference is, on the other hand, lower than a second threshold SOFF, lower than the first threshold SON, in step e7), the method detects the non-detachment of the rear wheel in step e8) and may decide to keep the parameters of the vehicle trajectory control strategy in step e9) In the case where the absolute value of the difference in acceleration is between the thresholds SOFF and SON, the state of the wheels defined in the previous step is kept. For the same sign of yaw rate yr, positive on the flowchart of FIG. 1, if the braking pressure exerted on the outer front wheel is greater than a value close to zero (step e1o), the method will calculate the absolute value of the difference between the deceleration () Z, of the inner rear wheel at the turn with the longitudinal acceleration yL measured on the vehicle, at the step e11), being no longer possible
4 utiliser la décélération de la roue avant. Cette mesure de l'accélération longitudinale yL peut être délivrée par un capteur monté sur le véhicule. 4 use the deceleration of the front wheel. This measurement of the longitudinal acceleration yL can be delivered by a sensor mounted on the vehicle.
La valeur absolue de cette différence d'accélération est ensuite comparée (étape e12) au premier seuil S'oN précédemment défini en fonction de la vitesse de lacet, et dans le cas où elle lui est supérieure, le procédé détecte le décollement de la roue arrière intérieure R21 (étape e5) pour ensuite adapter le contrôle de la trajectoire du véhicule à l'étape e6) si celui-ci en est doté. The absolute value of this difference in acceleration is then compared (step e12) with the first threshold S o N previously defined as a function of the yaw rate, and in the case where it is greater, the method detects the detachment of the wheel. rear interior R21 (step e5) to then adapt the control of the vehicle trajectory in step e6) if it is equipped.
Dans le cas où cette valeur absolue de la différence d'accélération est inférieure au second seuil S'OFF déjà défini, et lui aussi dépendant de la vitesse de lacet yr , le procédé détecte le non décollement de la roue arrière intérieure à l'étape e8) et ne modifie pas la stratégie de contrôle de trajectoire, lorsqu'elle est installée dans le véhicule. Dans le cas où le signe de la vitesse de lacet yr serait négatif, il faut remplacer l'indice 12 de la roue avant par 11 et celui 21 de la roue arrière par 22. In the case where this absolute value of the difference in acceleration is lower than the second threshold S'OFF already defined, and it also depends on the yr yr speed, the method detects the non-detachment of the inner rear wheel at step e8) and does not modify the trajectory control strategy when installed in the vehicle. In the case where the sign of yer speed yr is negative, it is necessary to replace the index 12 of the front wheel by 11 and that 21 of the rear wheel by 22.
La figure 2 représente la variation temporelle de la vitesse w12 de la roue avant 20 extérieure R12, en cas de décélération et celle w21 de la roue arrière intérieure R21. A l'instant t1, la vitesse w21 de cette dernière chute plus rapidement que celle de la roue avant et le procédé en déduit qu'elle décolle.15 FIG. 2 shows the time variation of the speed w12 of the outer front wheel R12, in case of deceleration, and that w21 of the inner rear wheel R21. At time t1, the speed w21 of the latter drops faster than that of the front wheel and the process deduces that it takes off.15
Claims (9)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR0852729A FR2930479A1 (en) | 2008-04-23 | 2008-04-23 | METHOD FOR DETECTING THE DISCHARGE OF A MOTOR VEHICLE WHEEL |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR0852729A FR2930479A1 (en) | 2008-04-23 | 2008-04-23 | METHOD FOR DETECTING THE DISCHARGE OF A MOTOR VEHICLE WHEEL |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| FR2930479A1 true FR2930479A1 (en) | 2009-10-30 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| FR0852729A Pending FR2930479A1 (en) | 2008-04-23 | 2008-04-23 | METHOD FOR DETECTING THE DISCHARGE OF A MOTOR VEHICLE WHEEL |
Country Status (1)
| Country | Link |
|---|---|
| FR (1) | FR2930479A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR3000930A1 (en) * | 2013-01-11 | 2014-07-18 | Renault Sa | METHOD FOR DETECTING THE REAR WHEEL BEARING OF A MOTOR VEHICLE IN TURN |
| CN115052802A (en) * | 2020-02-11 | 2022-09-13 | 沃尔沃卡车集团 | Method for controlling a self-propelled trawl vehicle during an evading maneuver |
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|---|---|---|---|---|
| DE19802041A1 (en) * | 1998-01-21 | 1999-07-22 | Bosch Gmbh Robert | Procedure for stabilizing car to avoid tipping over, especially for about axis oriented in car's longitudinal direction |
| EP0943513A2 (en) * | 1998-03-20 | 1999-09-22 | Denso Corporation | Apparatus for controlling behavior of vehicle using brakes |
| US6356188B1 (en) * | 2000-09-25 | 2002-03-12 | Ford Global Technologies, Inc. | Wheel lift identification for an automotive vehicle |
| WO2003006293A1 (en) * | 2001-07-13 | 2003-01-23 | Lucas Automotive Gmbh | Vehicle braking system |
| GB2382336A (en) * | 2001-11-21 | 2003-05-28 | Ford Global Tech Inc | Vehicle yaw stability control |
| US20040010383A1 (en) * | 2000-09-25 | 2004-01-15 | Jianbo Lu | Passive wheel lift identification for an automotive vehicle using operating input torque to wheel |
| US20040024512A1 (en) * | 2002-08-05 | 2004-02-05 | Salib Albert Chenouda | System and method for desensitizing the activation criteria of a rollover control system |
| US20060190143A1 (en) * | 2005-02-22 | 2006-08-24 | Continental Teves, Inc. | System to measure wheel liftoff |
-
2008
- 2008-04-23 FR FR0852729A patent/FR2930479A1/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19802041A1 (en) * | 1998-01-21 | 1999-07-22 | Bosch Gmbh Robert | Procedure for stabilizing car to avoid tipping over, especially for about axis oriented in car's longitudinal direction |
| EP0943513A2 (en) * | 1998-03-20 | 1999-09-22 | Denso Corporation | Apparatus for controlling behavior of vehicle using brakes |
| US6356188B1 (en) * | 2000-09-25 | 2002-03-12 | Ford Global Technologies, Inc. | Wheel lift identification for an automotive vehicle |
| US20040010383A1 (en) * | 2000-09-25 | 2004-01-15 | Jianbo Lu | Passive wheel lift identification for an automotive vehicle using operating input torque to wheel |
| WO2003006293A1 (en) * | 2001-07-13 | 2003-01-23 | Lucas Automotive Gmbh | Vehicle braking system |
| GB2382336A (en) * | 2001-11-21 | 2003-05-28 | Ford Global Tech Inc | Vehicle yaw stability control |
| US20040024512A1 (en) * | 2002-08-05 | 2004-02-05 | Salib Albert Chenouda | System and method for desensitizing the activation criteria of a rollover control system |
| US20060190143A1 (en) * | 2005-02-22 | 2006-08-24 | Continental Teves, Inc. | System to measure wheel liftoff |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR3000930A1 (en) * | 2013-01-11 | 2014-07-18 | Renault Sa | METHOD FOR DETECTING THE REAR WHEEL BEARING OF A MOTOR VEHICLE IN TURN |
| CN115052802A (en) * | 2020-02-11 | 2022-09-13 | 沃尔沃卡车集团 | Method for controlling a self-propelled trawl vehicle during an evading maneuver |
| US12384459B2 (en) | 2020-02-11 | 2025-08-12 | Volvo Truck Corporation | Methods for controlling a self-powered dolly vehicle during evasive maneuvering |
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