Method and driving dynamics control system for stabilizing a car-trailer combination
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 (Y Basis ) 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 (Y Basis ) 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.
1. A method for stabilizing a car-trailer combination consisting of a towing vehicle and a trailer or semi-trailer comprising the following steps:
detecting an input signal(Y;δ H ;{dot over (ψ)} meas ) with signal oscillations due to a swaying motion of the trailer or semi-trailer, the input signal (Y;δ H ;{dot over (ψ)} meas ) having a base component (Y Basis ;{dot over (ψ)} Basis ) superimposed by the signal oscillations,
determining a reference signal ({dot over (ψ)} ref,corr ) correlating with an intermediate signal determined from the base component (Y Basis ;{dot over (ψ)} Basis ) of the input signal (Y;δ H ;{dot over (ψ)} meas ),
determining a correcting variable (Δδ;ΔM) depending on a deviation (Δ{dot over (ψ)} Trailer ) between the reference signal ({dot over (ψ)} ref,corr ) and a detected signal ({dot over (ψ)} meas ), and
influencing a driving condition of the towing vehicle according to the determined correcting variable (Δδ;ΔM).
2. The method as claimed in claim 1 ,
wherein the reference signal is a reference yaw rate signal ({dot over (ψ)} ref,corr ) and the detected signal is an actual yaw rate signal ({dot over (ψ)} meas ).
3. The method as claimed in claim 1 ,
wherein the reference signal ({dot over (ψ)} ref,corr ) is calculated based on a vehicle model and depends on the intermediate signal (δ H,corr ).
4. The method as claimed in claim 1 ,
wherein the input signal is a steering angle signal (δ H ).
5. The method as claimed in claim 1 ,
wherein the input signal and the actual signal ({dot over (ψ)} meas ) are identical and the intermediate signal corresponds to the reference signal ({dot over (ψ)} ref,corr ).
6. The method as claimed in claim 1 , comprising the intermediate step of calculating an intermediate signal (δ H,corr ;{dot over (ψ)} ref,corr ) from the input signal (Y;δ H ;{dot over (ψ)} meas ) in a correction step, the intermediate signal approximately corresponding to the base component (Y Basis ;{dot over (ψ)} Basis ) of the input signal (Y;δ H ;{dot over (ψ)} meas ).
7. The method as claimed in claim 6 ,
wherein the correction step calculates average values of successive extreme values (Y i−1 ;Y i ;Y i+1 ) of the input signal (Y;δ H ;{dot over (ψ)} meas ) and determines the intermediate signal (δ H,corr ;{dot over (ψ)} ref,corr ) according to the average values.
8. The method as claimed in claim 7 ,
wherein the intermediate signal (δ H,corr ;{dot over (ψ)} ref,corr ) is determined by way of an extrapolation process from previously calculated average values.
9. The method as claimed in claim 8 ,
wherein the average values in the extrapolation process are furnished with a weighting factor which is lower for older average values than for more recently calculated average values.
10. The method as claimed in claim 7 ,
wherein the intermediate signal (δ H,corr ;{dot over (ψ)} ref,corr ) is determined from the average values using a model-based filter.
11. The method as claimed in claim 10 ,
wherein the input signal is an actuating variable and the intermediate signal is a state variable within the model on which the filter is based.
12. The method as claimed in claim 10 ,
wherein the filter is a Kalman filter.
13. The method as claimed in claim 1 ,
wherein the correcting variable is a steering torque (ΔM) which is applied to a steering handle.
14. The method as claimed in claim 1 ,
wherein the correcting variable is an additional steering angle which allows controlling a steering system.
15. A driving dynamics control system for stabilizing a car-trailer combination consisting of a towing vehicle and a trailer or a semi-trailer, comprising:
a sensor detecting an input signal (Y;δ H ,{dot over (ψ)} meas ) with signal oscillations due to a swaying motion of the trailer or semi-trailer, the input signal (Y;δ H ;{dot over (ψ)} meas ) having a base component (Y Basis ;{dot over (ψ)} Basis ) superimposed by the signal oscillations,
a calculating device ( 104 ; 501 ) determining a reference signal ({dot over (ψ)} ref,corr ) correlating with an intermediate signal determined from the base component (Y Basis ;{dot over (ψ)} Basis ) of the input signal (Y;δ H ;{dot over (ψ)} meas ),
a controlling device ( 102 ) determining a correcting variable (Δδ;ΔM) depending on a deviation (Δ{dot over (ψ)} Trailer ) between the reference signal ({dot over (ψ)} ref,corr ) and a detected signal ({dot over (ψ)} meas ), and
an actuator influencing the driving condition of the towing vehicle according to the determined correcting variable (Δδ;ΔM).