Method for traction control of a motor vehicle

Abstract

The invention relates to a method for traction control of a motor vehicle, in particular a single-track motor vehicle, having a PID drive slip controller (2) for regulating the drive slip K of at least one driven wheel, wherein the actual wheel slip K ist and the theoretical wheel slip K soll are used as input variables for the PID drive slip controller (2), the wheel drive torque M AR,P is determined from the sum of the P component M AR,I , the I component M AR,D and the D component M AR,PID of the PID drive slip controller (2) and is fed back to the at least one driven wheel, the longitudinal force potential F x,max is determined by means of the I component M AR,I of the PID drive slip controller (2), the longitudinal force potential representing the maximum transmissible longitudinal force of the at least one driven wheel onto the roadway under the current operating conditions, the theoretical wheel slip K soll is determined by means of the longitudinal force potential F x,max .

Description

Technical Field

[0001] The present invention relates to a method for traction control of a motor vehicle, particularly a single-wheel rutted motor vehicle, the motor vehicle having a PID drive slip adjuster for adjusting the drive slip K of at least one driven wheel. Background Technology

[0002] A traction control system describes a system that adjusts the driving torque of a motor vehicle to generate maximum propulsion or maximum traction while maintaining vehicle stability. The controlled system of a traction control system mainly includes a motor, a transmission system, and at least one driven wheel or the tire of said at least one driven wheel. The transmission characteristics of the motor and transmission system can be considered constant, while the transmission characteristics of the tire are related to many influencing parameters and can therefore vary significantly. To optimally parameterize the traction control system, all tire influencing parameters and their effects on tire transmission characteristics must be known. However, this is generally not achievable with traction control systems known from the prior art.

[0003] A proportional-integral-derivative (PID) controller consists of P, I, and D components and can be defined in either parallel or serial configurations. The P component exhibits proportional transfer characteristics, and its output signal is proportional to the input signal, consisting only of the proportional gain. The I component acts on the adjustment parameter through the time integral of the input signal. Furthermore, the D component exhibits derivative transfer characteristics and responds not to the magnitude of the input signal, but rather to its rate of change. Accordingly, the D component is related to the rate of change of the input signal.

[0004] A common approach is to allow drivers to adapt the traction control system to specific tire-influencing parameters, such as the road's coefficient of friction. To do this, for example, drivers can be provided with multiple different parameterizations of the traction control system in the form of driving modes. Thus, drivers can choose the driving mode that appears best suited to the current conditions.

[0005] Alternatively, one could attempt to measure or estimate as many tire influence parameters as possible and adapt the traction control system based on the derived parameters. However, this requires significant development costs and is prone to errors due to the large number of influencing factors. Furthermore, common components used to measure and estimate tire influence parameters are very expensive, for example, due to specialized sensors and / or are highly complex to develop, such as for friction coefficient estimators. Summary of the Invention

[0006] Therefore, the object of the present invention is to provide a method for traction control of a motor vehicle, particularly a single-wheel rutted motor vehicle, having a PID drive slip regulator for adjusting the drive slip K of at least one driven wheel, wherein the method improves the adjustment characteristics and reduces the development cost of the data-driven / parameterized PID drive slip regulator.

[0007] This task is solved by a combination of features according to the invention.

[0008] According to the present invention, a method for traction control of a motor vehicle, particularly a single-wheel rutted motor vehicle, is proposed, the motor vehicle having a PID drive slip adjuster for adjusting the drive slip K of at least one driven wheel. Actual wheel slip K ist Theoretical wheel slip K soll It is used as the input parameter of the PID-driven slip controller. The PID-driven slip controller consists of the P component M of the PID-driven slip controller. AR,P , I component M AR,I and D component M AR,D The wheel driving torque M is obtained by summing the values. AR,PID Furthermore, the PID drive slip adjuster feeds back the driving torque of this wheel to the at least one driven wheel. Here, the longitudinal force potential F x,max I component M of the PID-driven slip regulator AR,I The longitudinal potential force is obtained, representing the maximum transmissible longitudinal force from at least one driven wheel to the lane under current operating conditions, and the theoretical wheel slip K is determined. soll With the help of longitudinal potential F x,max Sure.

[0009] Due to the longitudinal potential force F x,max Since it cannot be directly measured and is difficult to calculate, the longitudinal force potential F is estimated based on the I component of the PID slip regulator. x,max If the theoretical slip of the regulator is optimized, then the maximum longitudinal force of the tire is adjusted by the regulator. The I component M of the PID regulator... AR,I This precisely reflects the longitudinal force potential F of the tire. x,max Therefore, it can be used to adjust / adapt traction control systems. Advantageously, it creates a fully self-adaptive traction control system that does not require expensive sensors and complex estimation algorithms, and thus can be developed and sold at low cost. The method for traction control according to the invention enables developers to resolve existing conflicting objectives in traction control system applications, which arise from a limited number of driving modes and measured or estimated parameters. Furthermore, since the driver does not need to select different driving modes, the driver gains additional benefits such as improved safety and performance, as well as enhanced driving comfort.

[0010] In one advantageous implementation variant, the P component M of the PID-driven slip regulator is specified. AR,P , I component M AR,I and D component M AR,D Each factor is multiplied by a factor used to parameterize the PID-driven slip controller, where the corresponding factor for parameterizing the PID-driven slip controller is determined based on the longitudinal potential F. x,max This is determined. The optimized parameterization of the PID-driven slip regulator is then correlated with the longitudinal force potential F. x,max And thus, it coordinates with the lanes under current operating conditions.

[0011] In a preferred embodiment of the invention, the drive slip adjuster regulates drive slip by adjusting motor torque, thereby changing the wheel drive torque M. AR,PID Therefore, the method used for traction control or the PID drive slip adjuster used to adjust the drive slip K of at least one driven wheel intervenes / acts on the motor control and adjusts the corresponding slip.

[0012] In one embodiment of the present invention, it is specified that the vehicle speed V... FZG and the circumferential speed V AR Calculate the actual wheel slip K ist .

[0013] In one implementation variation, the longitudinal potential force F is determined according to the method of the present invention. x,max The longitudinal force potential represents the maximum transmissible longitudinal force of the tire of the at least one driven wheel under current operating conditions. The current operating conditions here include at least one influence of the lane, temperature, speed, wheel load, tire pressure, and / or the intermediate medium situated between the tire and the lane. Advantageously, the longitudinal force potential F of the tire—whose driving torque is regulated by the traction control system—is... x,max It is a comprehensive state parameter of the tire, which can be adapted to all tire-influencing parameters according to its traction control system. Longitudinal potential F x,max This represents the maximum transmissible longitudinal force of the tire under current conditions. This state parameter is determined by all tire influence parameters affecting the traction control system and is a representative synthesis of all tire influence parameters. It is based on the longitudinal force potential F. x,max All important parameters of the traction adjustment system can be adapted to tire influence parameters, especially wheel slip K. soll And the adjustment parameters of the slip controller, especially the P-, I- and D- factors of the PID slip controller.

[0014] Furthermore, one advantageous implementation involves using a low-pass filter to filter the I component M. AR,ILow-pass filtering is performed. Correspondingly, the theoretical sliding adjustment device utilizes the longitudinal force potential F... x,max Determine the theoretical wheel slip K as the input parameter for the PID-driven slip regulator. soll The longitudinal force potential F x,max With the help of the low-pass filtered I component M AR,I The result is obtained. The I component M is obtained after passing through a strong low-pass filter. AR,I This avoids feedback effects, and then the I component M, which has been strongly low-pass filtered, is... AR,I As the longitudinal potential force F x,max For adaptation / adjustment of traction adjustment systems.

[0015] Furthermore, according to the present invention, a PID drive slip adjuster is provided, the PID drive slip adjuster being used to adjust the drive slip K of at least one driven wheel of a motor vehicle, particularly a single-wheel rutted motor vehicle, preferably for performing the method according to the present invention, the PID drive slip adjuster comprising: a. Used to measure vehicle speed V FZG and the circumferential speed V AR The sensor, and b. Used to determine the longitudinal potential force F x,max The theoretical slip adjustment device, wherein the longitudinal force potential represents the maximum transmissible longitudinal force of the wheel, especially the tire, under current operating conditions, and the I component M of the slip adjuster can be driven by a PID controller. AR,I To determine.

[0016] In addition, the theoretical wheel slip K, which is the input parameter of the PID drive slip regulator, soll The longitudinal force potential F can be obtained by the theoretical sliding adjustment device. x,max To determine.

[0017] Advantageously, the traction slip K of at least one driven wheel can be adjusted using the traction control methods for motor vehicles, especially single-wheeled vehicles, with the help of a corresponding PID drive slip adjuster.

[0018] In an advantageous variant, according to the invention, the PID-driven slip regulator has a function for controlling the I component M. AR,I A low-pass filter is used for low-pass filtering. Correspondingly, the theoretical wheel slip K is used as the input parameter of the PID-driven slip regulator. soll The longitudinal force potential F can be obtained by the theoretical sliding adjustment device. x,max The longitudinal potential is determined by using the low-pass filtered I component M. AR,I Confirmed. Advantageously, the I component M is obtained through a strong low-pass filter. AR,I This avoids feedback effects, and then the I component after strong low-pass filtering is used as the longitudinal force potential F.x,max For adaptation of traction adjustment systems.

[0019] The features disclosed above can be combined arbitrarily, which is technically feasible and they do not contradict each other. Attached Figure Description

[0020] Other advantageous extensions of the invention are illustrated in detail below with reference to the accompanying drawings, together with the description of preferred embodiments of the invention. The drawings are as follows: Figure 1 A block diagram of a PID drive slip adjuster for adjusting the drive slip K of the driven wheels of a motor vehicle is shown. Detailed Implementation

[0021] The accompanying drawings are illustrative and exemplary. The same reference numerals in the drawings indicate the same functional and / or structural features.

[0022] exist Figure 1 The diagram shows a block diagram of a PID drive slip adjuster 2 for adjusting the drive slip K of the driven wheels of a motor vehicle. The PID drive slip adjuster 2 for adjusting the drive slip K of the driven wheels of a motor vehicle includes components for measuring vehicle speed V. FZG and the circumferential speed V AR Sensors and methods for determining longitudinal force potential F x,max The theoretical sliding adjustment device 3, the longitudinal force potential F x,max The I component M represents the maximum transmissible longitudinal force of the wheel, especially the tire, under current operating conditions, and can be driven by the PID controller 2. AR,I Confirmed. Furthermore, the theoretical wheel slip K, which is the input parameter of the PID-driven slip regulator 2, is... soll The longitudinal force potential F can be obtained by the theoretical sliding adjustment device 3. x,max To determine.

[0023] In addition, the PID-driven slip regulator 2 includes a function for controlling the I component M. AR,I Low-pass filter 5 is used for low-pass filtering. The theoretical wheel slip K is used as the input parameter for the PID-driven slip regulator 2. soll The theoretical sliding adjustment device 3 can be used with the help of longitudinal force potential F x,max To determine the longitudinal potential force F x,max The low-pass filtered I component M can be used AR,I To obtain.

[0024] Furthermore, the PID drive slip adjuster 2 is configured to perform the traction control method for motor vehicles described below to adjust the drive slip K of the driven wheel.

[0025] In the method described, the actual wheel slippage K istTheoretical wheel slip K soll The input parameter is used as the P component of the PID-driven slip regulator 2, and the PID-driven slip regulator 2 is controlled by the P component M. AR,P , I component M AR,I and D component M AR,D The wheel driving torque M is obtained by summing the values. AR,PID The driving torque of this wheel is fed back to the at least one driven wheel. This is achieved using the vehicle speed V. FZG and the circumferential speed V AR Calculate the actual wheel slip K ist In addition, the longitudinal potential force F x,max The I component M of the PID-driven slip regulator 2 AR,I It is determined that the longitudinal force potential represents the maximum transmissible longitudinal force on the at least one driven wheel to the lane under current operating conditions. Furthermore, the theoretical wheel slip K... soll With the help of longitudinal potential F x,max To obtain.

[0026] In addition, the longitudinal potential force F x,max This represents the maximum transmissible longitudinal force of the tire of at least one driven wheel under current operating conditions. Here, the corresponding current operating conditions include at least one influence from the lane, temperature, speed, wheel load, tire pressure, and / or the intermediate medium situated between the tire and the lane.

[0027] The method further includes using the P component M of the PID-driven slip regulator 2. AR,P , I component M AR,I and D component M AR,D Each of these factors is multiplied by a factor used to parameterize the PID-driven slip regulator 2. The corresponding factor used to parameterize the PID-driven slip regulator 2 is based on the longitudinal potential F. x,max Confirmed. Furthermore, the drive slip adjuster 2 regulates drive slip by adjusting the motor torque, thereby changing the wheel drive torque M. AR,PID .

[0028] In addition, by using a low-pass filter to pair the I components M AR,I Low-pass filtering is performed. Correspondingly, the theoretical sliding adjustment device 3 utilizes the longitudinal force potential F... x,max The theoretical wheel slip K is determined as the input parameter of the PID-driven slip regulator 2. soll The longitudinal force potential F x,max With the help of the low-pass filtered I-component M AR,I To obtain.

[0029] The present invention is not limited to the preferred embodiments described above in its implementation. Rather, various variations are conceivable, which in principle also use the solutions shown in different types of implementations.

Claims

1. A method for traction control of a motor vehicle having a PID drive slip adjuster (2) for adjusting the drive slip K of at least one driven wheel. in, Actual wheel slip K ist Theoretical wheel slip K soll The input parameter used as the PID-driven slip regulator (2) Among them, the PID-driven slip regulator (2) is composed of the P component M of the PID-driven slip regulator (2). AR,P , I component M AR,I and D component M AR,D The wheel driving torque M is obtained by summing the values. AR,PID And the wheel driving torque is fed back to the at least one driven wheel. Among them, the I component M of the PID-driven slip regulator (2) is used. AR,I Determine the longitudinal potential force F x,max The longitudinal force potential represents the maximum transmissible longitudinal force from the at least one driven wheel to the lane under the current operating conditions. Wherein, the theoretical wheel slip K soll With the help of the longitudinal force potential F x,max Sure.

2. The method according to claim 1, wherein, The P component M of the PID-driven slip regulator (2) AR,P , I component M AR,I and D component M AR,D Each is multiplied by a factor used to parameterize the PID-driven slip regulator (2), where the longitudinal force potential F is determined. x,max Determine the appropriate factors for parameterizing the PID-driven slip regulator (2).

3. The method according to claim 1 or 2, wherein, The PID drive slip adjuster (2) adjusts the drive slip by adjusting the motor torque, thereby changing the wheel drive torque M. AR,PID .

4. The method according to claim 1 or 2, wherein, With the help of vehicle speed V FZG and the circumferential speed V AR Determine the actual wheel slip K ist .

5. The method according to claim 1 or 2, wherein, The longitudinal force potential F x,max This represents the maximum transmissible longitudinal force of the tire of at least one driven wheel under current operating conditions, wherein the current operating conditions include at least one influence of lane, temperature, speed, wheel load, tire internal pressure, and / or an intermediate medium situated between the tire and the lane.

6. The method according to claim 1 or 2, wherein, Using a low-pass filter (5) to filter the I component M AR,I Low-pass filtering is performed, wherein the theoretical sliding adjustment device (3) utilizes the longitudinal force potential F x,max The theoretical wheel slip K is determined as the input parameter of the PID-driven slip regulator (2). soll .

7. The method according to claim 1 or 2, wherein, The motor vehicle in question is a single-wheeled vehicle.

8. A PID drive slip adjuster (2), wherein the PID drive slip adjuster is used to adjust the drive slip K of at least one driven wheel of a motor vehicle, and the PID drive slip adjuster comprises: a. Used to measure vehicle speed V FZG and the circumferential speed V AR The sensor, and b. Used to determine the longitudinal potential force F x,max The theoretical slip adjustment device (3), wherein the longitudinal force potential represents the maximum transmissible longitudinal force of the wheel under the current operating conditions (4) and can be driven by the I component M of the slip adjuster (2) via PID. AR,I To determine, Among them, the theoretical wheel slip K, which is the input parameter of the PID drive slip regulator (2), is... soll The longitudinal force potential F obtained by the theoretical sliding adjustment device can be obtained x,max To determine.

9. The PID-driven slip regulator (2) according to claim 8, wherein, The PID-driven slip regulator (2) has a function for controlling the I component M AR,I A low-pass filter (5) is used for low-pass filtering, wherein the theoretical wheel slip K is the input parameter of the PID-driven slip regulator (2). soll The theoretical sliding adjustment device (3) can be used by the longitudinal force potential F x,max The longitudinal potential energy is determined by using the low-pass filtered I component M. AR,I To obtain.

10. The PID-driven slip regulator (2) according to claim 8, wherein, The PID-driven slip regulator is used to perform the method according to any one of claims 1 to 7.

11. The PID-driven slip regulator (2) according to claim 8, wherein, The longitudinal force potential represents the maximum transmissible longitudinal force of the tire under the current operating conditions (4) and can be driven by the I component M of the slip adjuster (2) via a PID controller. AR,I To determine.

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