Method for Monitoring Traction for a Motor Vehicle

Abstract

Methods, apparatuses, and systems for monitoring traction for a single-track motor vehicle are provided. A PID drive slip regulator regulates the drive slip of at least one driven wheel. An actual wheel slip and a target wheel slip are used as input variables of the PID drive slip regulator. The PID drive slip regulator ascertains a wheel drive torque from the sum of a P component, an I component, and a D component of the PID drive slip regulator and provides the wheel drive torque back to the at least one driven wheel. A transverse force potential, which constitutes the maximally transmissible transversal force of the at least one driven wheel onto a lane under current operating conditions, is determined using the I component of the PID drive slip regulator. The target wheel slip is determined using the transverse force potential.

Claims

1.-8. (canceled)

9. A method for monitoring traction for a single-track motor vehicle, having a PID drive slip controller for controlling a drive slip.sub.K of at least one driven wheel, comprising: inputting an actual wheel slip.sub.Kist and a target wheel slip.sub.Ksoll to the PID drive slip controller; ascertaining, by the PID drive slip controller, a wheel drive torque M.sub.AR,PID from a sum of a P component M.sub.AR,P, an I component M.sub.AR,I, and a D component M.sub.AR,D; providing the wheel drive torque M.sub.AR,PID to the at least one driven wheel; determining a longitudinal force potential F.sub.x,max, which represents a maximum transmittable longitudinal force of the at least one driven wheel to a road surface under current operating conditions, using the I component M.sub.AR,I of the PID drive slip controller; and determining the target wheel slip.sub.Ksoll using the longitudinal force potential F.sub.x,max.

10. The method as claimed in claim 9, further comprising: multiplying each of the P component M.sub.AR,P, the I component M.sub.AR,I, and the D component M.sub.AR,D of the PID drive slip controller by a factor for parametrization of the PID drive slip controller, and determining the respective factors for the parametrization of the PID drive slip controller using the longitudinal force potential F.sub.x,max.

11. The method as claimed in claim 9, further comprising: controlling, using the PID drive slip controller, the drive slip.sub.K by adapting a motor torque, as a result of which the wheel drive torque M.sub.AR,PID is varied.

12. The method as claimed in claim 9, further comprising: ascertaining the actual wheel slip.sub.Kist is ascertained using a vehicle speed v.sub.FZG and a wheel circumferential speed.sub.VAR.

13. The method as claimed in claim 9, wherein the longitudinal force potential F.sub.x,max represents a maximum transmittable longitudinal force of a tire of the at least one driven wheel under current operating conditions, and the current operating conditions comprise at least an influence of a road surface, a temperature, a speed, a wheel load, a tire internal pressure and/or an intervening medium which is disposed between the tire and the road surface.

14. The method as claimed in claim 9, further comprising: low-pass filtering the I component M.sub.AR,I using a low-pass filter, determining, using a target slip controller, a target wheel slip.sub.Ksoll as input variable of the PID drive slip controller using the longitudinal force potential F.sub.x,max that is ascertained using the low-pass filtered I component M.sub.AR,I.

15. A PID drive slip controller for controlling a drive slip.sub.K of at least one driven wheel of a single-track motor vehicle, comprising: a vehicle speed sensor to measure a vehicle speed v.sub.FZG; a circumferential speed sensor to measure a wheel circumferential speed.sub.VAR; and a target slip controller to ascertain a longitudinal force potential F.sub.x,max, which represents a maximum transmittable longitudinal force of a tire of the at least one driven wheel under current operating conditions, and is determined using an I component M.sub.AR,I of the PID drive slip controller, wherein a target wheel slip.sub.Ksoll input variable of the PID drive slip controller is determined by the target slip controller using the ascertained longitudinal force potential F.sub.x,max.

16. The PID drive slip controller as claimed in claim 15, further comprising: a low-pass filter to low-pass filter the I component M.sub.AR,I, wherein a target wheel slip.sub.Ksoll as input variable of the PID drive slip controller is determined by the target slip controller using the longitudinal force potential F.sub.x,max, which is ascertained using the low-pass filtered I component M.sub.AR,I.

Description

BRIEF DESCRIPTION OF THE DRAWING

[0023] FIG. 1 shows a block diagram of a PID drive slip controller for controlling a drive slip.sub.K of a driven wheel of a motor vehicle.

DETAILED DESCRIPTION

[0024] The FIGURE is schematic and an example. The same reference signs in the FIGURE denote functionally and/or structurally equivalent features.

[0025] Illustrated in FIG. 1 is a block diagram of a PID drive slip controller 2 for controlling a drive slip.sub.K of a driven wheel of a motor vehicle. The PID drive slip controller 2 for controlling the drive slip.sub.K of the driven wheel of a motor vehicle comprises sensors for measuring a vehicle speed v.sub.FZG and a wheel circumferential speed vain, and a target slip controller 3 for ascertaining a longitudinal force potential F.sub.x,max which represents a maximum transmittable longitudinal force of the wheel, in particular of a tire, under current operating conditions and is able to be determined using the I component M.sub.AR,I of the PID drive slip controller 2. Furthermore, a target wheel slip.sub.Ksoll as input variable of the PID drive slip controller 2 is able to be determined by the target slip controller 3 using the ascertained longitudinal force potential F.sub.x,max.

[0026] Furthermore, the PID drive slip controller 2 has a low-pass filter 5 for low-pass filtering the I component M.sub.AR,I. In the process, a target wheel slip.sub.Ksoll as input variable of the PID drive slip controller 2 is able to be determined by the target slip controller 3 using the longitudinal force potential F.sub.x,max which is able to be ascertained using the low-pass filtered I component M.sub.AR,I.

[0027] Moreover, the PID drive slip controller 2 is configured to carry out the method described hereunder for monitoring traction for a motor vehicle for controlling a drive slip.sub.K of a driven wheel.

[0028] In the method, an actual wheel slip.sub.Kist and a target wheel slip.sub.Ksoll are utilized as input variables of the PID drive slip controller 2, and the PID drive slip controller 2 from a sum of a P component M.sub.AR,P, an I component M.sub.AR,I, and a D component M.sub.AR,D of the PID drive slip controller 2 ascertains a wheel drive torque M.sub.AR,PID which is fed back to the at least one driven wheel. In the process, the actual wheel slip.sub.Kist is ascertained using a vehicle speed v.sub.FZG and a wheel circumferential speed v.sub.AR. Furthermore, a longitudinal force potential F.sub.x,max, which represents a maximum transmittable longitudinal force of the at least one driven wheel to a road surface under current operating conditions, is determined using the I component M.sub.AR,I of the PID drive slip controller 2. Moreover, the target wheel slip.sub.Ksoll is ascertained using the longitudinal force potential F.sub.x,max.

[0029] Furthermore, the longitudinal force potential F.sub.x,max represents a maximum transmittable longitudinal force of a tire of the at least one driven wheel under current operating conditions. The corresponding current operating conditions here comprise at least an influence of a road surface, a temperature, a speed, a wheel load, a tire internal pressure and/or an intervening medium which is disposed between the tire and the road surface.

[0030] The method furthermore comprises that the P component M.sub.AR,P, the I component M.sub.AR,I, and the D component M.sub.AR,D of the PID drive slip controller 2 are in each case multiplied by a factor for the parametrization of the PID drive slip controller 2. In the process, the respective factors for the parametrization of the PID drive slip controller 2 are determined using the longitudinal force potential F.sub.x,max. Moreover, the PID drive slip controller 2 controls the drive slip.sub.K using adapting a motor torque, as a result of which the wheel drive torque M.sub.AR,PID is varied.

[0031] Moreover, the I component M.sub.AR,I is low-pass filtered using a low-pass filter (5). Accordingly, the target slip controller 3 determines a target wheel slip.sub.Ksoll as input variable of the PID drive slip controller 2 using the longitudinal force potential F.sub.x,max which is ascertained using the low-pass filtered I component M.sub.AR,I.

[0032] The term module (and other similar terms such as unit, subunit, submodule, controller, etc.) in the present disclosure may refer to a software module, a hardware module, or a combination thereof. Modules implemented by software are stored in memory or non-transitory computer-readable medium. The software modules, which include computer instructions or computer code, stored in the memory or medium can run on a processor or circuitry (e.g., ASIC, PLA, DSP, FPGA, or other integrated circuit) capable of executing computer instructions or computer code. A hardware module may be implemented using one or more processors or electronic circuitry. A processor or electronic circuitry can be used to implement one or more hardware modules. Each module can be part of an overall module that includes the functionalities of the module. Modules can be combined, integrated, separated, and/or duplicated to support various applications. Also, a function being performed at a particular module can be performed at one or more other modules and/or by one or more other devices instead of or in addition to the function performed at the particular module. Further, modules can be implemented across multiple devices and/or other components local or remote to one another. Additionally, modules can be moved from one device and added to another device, and/or can be included in both devices and stored in memory or non-transitory computer readable medium.

[0033] The present subject matter in terms of the example thereof is not limited to the preferred examples set forth above. Rather, a number of variants which utilize the solution illustrated even in examples of a fundamentally different type are also conceivable.