CN-115593390-B - Method for preventing motor vehicle with steer-by-wire from tipping, control device and motor vehicle

CN115593390BCN 115593390 BCN115593390 BCN 115593390BCN-115593390-B

Abstract

The invention relates to a method and a control device (10) for preventing a motor vehicle (1) from tipping over, and to such a motor vehicle (1) having an electric steering device (3, 4). In the method, the current driving situation of the motor vehicle (1) is monitored and analyzed in terms of the tipping danger. In the event of a detected risk of rollover, a predetermined hierarchical cascade of a plurality of different automatic control interventions is performed in successive steps on the cascade in time, in order to influence the driving situation until no further risk of rollover is present. The cascade structure here provides that the steering speed is limited in the first stage, the steering angle is limited in the second stage, and the steering angle and the active braking intervention are further limited in the third stage.

Inventors

F. barrek
D. Dreyer
U. FISHER
T. Colms
ULLRICH MARKUS

Assignees

大众汽车股份公司

Dates

Publication Date: 20260512
Application Date: 20220628
Priority Date: 20210709

Claims (12)

1. Method for preventing a motor vehicle (1) from tipping over, the motor vehicle having an electric steering device (3, 4), the electric steering device (3, 4) not having a mechanical connection between a steering wheel (2) and a steered wheel (5) of the motor vehicle (1), in which method automatically Monitoring and analyzing predetermined parameters describing the respective current driving situation of the motor vehicle (1) in terms of the risk of tipping according to predetermined criteria, In the event of a detected risk of rollover, a predetermined hierarchical cascade of a plurality of different automatic control interventions is performed in successive steps in time on a cascade to influence the driving situation of the motor vehicle (1) until there is no longer a risk of rollover, wherein the cascade specifies Limiting the steering speed of the electric steering device (3, 4) to a predetermined maximum value in a first stage, Limiting the steering angle of the electric steering device (3, 4) to a predetermined first maximum steering angle in the second stage, -Limiting the steering angle in a third stage to a predetermined second maximum steering angle, wherein the second maximum steering angle is smaller than the first maximum steering angle, and if the actual steering angle is larger than the second maximum steering angle, actively reducing the actual steering angle at least to the second maximum steering angle and performing an active braking intervention to reduce the driving speed of the motor vehicle (1).
2. The method according to claim 1, It is characterized in that the method comprises the steps of, The cascade structure also provides for an active braking intervention in the first and/or second stage, which is weaker than the active braking intervention provided in the third stage.
3. According to the method of one of the preceding claims, It is characterized in that the method comprises the steps of, The cascade structure also defines in at least one stage a limitation of the response of the motor vehicle (1) to the acceleration signal of the driver.
4.A method according to claim 3, It is characterized in that the method comprises the steps of, The cascade structure provides for a first limitation of the reaction in a first stage and/or a second stage and for a second limitation of the reaction in a third stage, wherein the second limitation is stronger than the first limitation.
5. The method according to claim 1 or 2, It is characterized in that the method comprises the steps of, The step-by-step increase is performed in accordance with an expected rollover time point at which the vehicle (1) is expected to rollover without control intervention.
6. The method according to claim 1 or 2, It is characterized in that the method comprises the steps of, The motor vehicle (1) is monitored by means of a sensor device of the motor vehicle (1) to detect a lifting of a wheel from the ground on which it is traveling, and the cascade structure is used according to this.
7. The method according to claim 1 or 2, It is characterized in that the method comprises the steps of, The tilting movement of the motor vehicle (1) is detected by means of an acceleration sensor and/or by means of a rotation sensor (9) of the motor vehicle (1), and the use of the cascade structure is finely controlled as a function of the detected tilting movement.
8. The method according to claim 1 or 2, It is characterized in that the method comprises the steps of, The application of different control interventions, which are specified according to a cascade structure, is coordinated by a driving dynamics control of the motor vehicle (1), which is configured to simulate whether the motor vehicle (1) can be driven on the respective current trajectory of the motor vehicle by means of the current operating parameters and/or using the determined control interventions, without tipping over.
9. The method according to claim 6, It is characterized in that the method comprises the steps of, The sensor device of the motor vehicle (1) comprises an adaptive chassis control device and/or a headlight illumination adjustment device.
10. The method according to claim 7, It is characterized in that the method comprises the steps of, The acceleration sensing device comprises an adaptive chassis control device (8).
11. Control device for a motor vehicle (1), having an interface (12) for detecting parameter values of parameters describing a respective current driving situation of the motor vehicle (1), for outputting control signals for controlling the motor vehicle (1), having a data processing device (13, 14) for processing the detected parameter values in order to determine a rollover risk of the motor vehicle (1) and for generating control signals in accordance with a predetermined cascade structure of control interventions, wherein the control device is provided for automatically executing a method according to one of the preceding claims.
12. Motor vehicle with an electric steering device (3, 4), which electric steering device (3, 4) has no mechanical connection between a steering wheel (2) and a steered wheel (5) of the motor vehicle (1), with a controllable braking device (6) and with a control device according to claim 9, which control device is provided for controlling the electric steering device (3, 4) and the braking device (6).

Description

Method for preventing motor vehicle with steer-by-wire from tipping, control device and motor vehicle Technical Field The invention relates to a method for preventing a motor vehicle from tipping over and a control device for a motor vehicle for preventing a motor vehicle from tipping over. The invention also relates to a correspondingly arranged motor vehicle. Background In particular, when the vehicle is driven manually, there is a risk that the vehicle will tilt sideways. This may be caused, for example, by steering interventions that are too strong at speeds that are too high, abrupt multiple changes in direction and transverse load, i.e. oscillations, etc. In the context of greater safety, means for stabilizing motor vehicles are therefore already available to avoid such tilting by means of automatic control interventions. For example, DE10 2014 202 230 A1 describes a method for preventing a steerable, in particular rear-wheel-steered vehicle from being skewed. Wherein the skew criterion is determined using the steering angle and the speed of the vehicle. If the skew criterion indicates a skew hazard to the vehicle, a correction signal for the steering angle is provided. The correction signal here indicates that the deflection of at least one steerable wheel of the vehicle is smaller than the steering angle in order to prevent tilting. As another means, DE 10 2005 046 776 A1 describes roll stabilization in the case of using a four-wheel drive. Specifically, disclosed herein is a method for controlling a vehicle having a 4x4 drive system. Wherein a potential rollover situation is to be determined and drive torque is transmitted to the front wheels via an electronically controlled central differential or an electronically controlled transfer case in order to avoid tilting. In DE 10 2018 101 182 A1, a method for avoiding a vehicle rollover by means of a torque vectoring device (Torque Vectoring) during a transverse load change is described. There, the motor vehicle has a single wheel drive, which is designed to drive the wheels subjected to the transverse load change independently of at least one other wheel of the motor vehicle. In the method described there, the critical state of the motor vehicle is to be detected during a transverse load change. In addition, a drive torque is applied to the wheels subjected to the transverse load change by the individual wheel drive such that the wheels subjected to the transverse load change slip. Furthermore, it is provided that the wheels subjected to the transverse load change are shifted in the direction of travel in such a way that a tilting of the motor vehicle can be prevented. Disclosure of Invention The invention aims to solve the technical problem of realizing particularly safe driving characteristics of a motor vehicle under the condition of particularly high driving power. The object is achieved according to the invention by a method for preventing a motor vehicle from tipping over, which has an electric steering device without a mechanical connection between a steering wheel and a steered wheel of the motor vehicle, in which method the electric steering device is automatically connected to the steered wheel of the motor vehicle Monitoring and analyzing predetermined parameters describing the respective current driving situation of the motor vehicle in terms of the risk of tipping according to predetermined criteria, In the event of a detected risk of rollover, a predetermined hierarchical cascade of a plurality of different automatic control interventions is performed in successive steps in time on the cascade to influence the driving situation of the motor vehicle until there is no longer a risk of rollover, wherein the cascade specifies Limiting the steering speed of the electric steering to a predetermined maximum value in the first stage, Limiting the steering angle of the electric steering device to a predetermined first maximum steering angle in the second stage, -Limiting the steering angle to a predetermined smaller second maximum steering angle in a third stage, if the actual steering angle is larger than the second maximum steering angle, actively reducing the actual steering angle at least to the second maximum steering angle, and performing an active braking intervention to reduce the driving speed of the motor vehicle. The method according to the invention is used to prevent a motor vehicle from tipping over, which has an electrical steering device that has no mechanical connection between the steering wheel or steering handle of the motor vehicle and the steered wheel. In other words, the method can thus be used for motor vehicles with a so-called steer-by-wire system. In a method step of the method according to the invention, predetermined parameters describing the respective current driving situation of the motor vehicle are automatically monitored. These parameters or their parameter values are then automatically evaluated for the risk o