China International Automotive ... - ika.rwth- · PDF file2 Consumer behavior 消费者行为 Individualization -> Fun to drive 个性化-> 驾驶乐趣 Safe, superior & comfortable

1 CC/P | 07.03.2008 | © Robert Bosch GmbH 2008. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution,

as well as in the event of applications for industrial property rights.

Chassis Systems Control

Safe, superior and comfortable driving安全，卓越和舒适的驾驶体验安全，卓越和舒适的驾驶体验安全，卓越和舒适的驾驶体验安全，卓越和舒适的驾驶体验

-Market needs and solutions市场需求和解决方案市场需求和解决方案市场需求和解决方案市场需求和解决方案

Ferdinando Sorrentino - Regional President, Chassis Systems Control China苏帆渡 –底盘控制系统中国区总裁

China International Automotive Congress 20082008国际汽车技术年会国际汽车技术年会国际汽车技术年会国际汽车技术年会Shenyang沈阳沈阳沈阳沈阳

2

Consumer behavior 消费者行为消费者行为消费者行为消费者行为� Individualization -> Fun to drive�个性化-> 驾驶乐趣

Safe, superior & comfortable driving

CC/P | 07.03.2008 | © Robert Bosch GmbH 2008. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution,



Global trends全球趋势Economy 经济经济经济经济� Steep growth in emerging markets-> Increased mobility� Growing globalization-> Networks and standards growing� 新兴市场发展强劲-> 机动性增加� 全球化进程加速-> 网络和标准进程加速

Society 社会社会社会社会� Ageing society� Urbanization-> Comfortable driving�社会老龄化�城市化-> 舒适的驾驶体验

Legislation立法立法立法立法� Safety legislation being tightened� Enhanced passenger and

pedestrian protection -> Safe driving �安全法规严格�加强乘员和行人保护-> 安全行车

Politics & Environment政治和环境政治和环境政治和环境政治和环境� “Global warming”� Rising oil prices-> Energy efficiency� “全球变暖”�油价上涨-> 能源利用效率Technology技术技术技术技术� Higher share of electronics/ software� Driver assistance -> Superior driving�电子/软件成分更高� 驾驶员辅助-> 卓越的驾驶体验




Analy

sis

分析

Driver

驾驶员

Result

结果

Top-down Approach自上而下from accident data to new systems

从事故数据到新系统

Vision, Strategy, Market

远景，战略，市场

new function idea

新功能建议

Bottom-up Approach自下而上from existing systems to accident data

从现有系统到事故数据

Existing Functions

现有功能

function efficiency

功能效率

efficiency: potential of accident avoidance or mitigation效率：事故避免或缓解的潜力

field of effect: chronological classification during event of accident作用领域：在事故中以时间分类

1

2

3 multiple system assessment: interaction in behavior between other systems多系统评估：与其他系统的互动行为


Accident research is used for evaluation and identification of vehicle motion systems on the way towards Vision Zero.利用事故研究评估和确定车辆运动系统对无事故远景的意义

4

Road accidents involving injuries交通事故受伤人数交通事故受伤人数交通事故受伤人数交通事故受伤人数




Road safety in 2005 – a public health issue

道路安全2005 –一个公共健康问题

91.4

268.2

242.7

19.0

130.4

23.3

72.7

7,931

41,600

43,443

6,376

98,738

26,409

94,968

0.93

1.26

1.85

0.22

0.45

0.38

0.44

[Mio] [Mio]

Fatalities死亡人数死亡人数死亡人数死亡人数

Registeredmotor vehicles机动车保有量机动车保有量机动车保有量机动车保有量

1 : 11,500

1 : 6,400

1 : 5,600

1 : 3,000

1 : 1,300

1 : 880

1 : 770

Fatality risk per vehicle单车死亡风险单车死亡风险单车死亡风险单车死亡风险

Sources: DfT- Transport Statistics GB 2006, IRTAD 2005, IATSS 2005, Yearbook 2005 Traffic Accidents China, Sindipeças 2006, DENATRAN 2005, Government of India: Department of road transport and highways 2007

*

* 2004

*


5





Evolution EU Road Fatalities 1990 -2010

欧洲交通事故死亡人数1990 - 2010

70,300

66,500

59,000

49,800

46,700

43,400

41,10041,100

50,40052,200

54,10055,200

56,40055,500

59,60061,300

70,900

37,800

25,000

27,000

29,200

31,500

34,000

36,700

39,700

42,900

46,300

50,000

20000

30000

40000

50000

60000

70000

80000

1990 1991 1992 1993 1994 1995 1996 1997 1998 1999 2000 2001 2002 2003 2004 2005 2006 2007 2008 2009 2010

Fatalities EU-25 欧盟25国死亡人数

2010 objective: 25.000 lives to save2010年目标: 拯救25,000个生命

Source: CARE

Fatalities

Target

2010

目标

Start

开始

Introduction ESP

引入ESP




0

2 000

4 000

6 000

8 000

10 000

12 000

14 000

16 000

18 000

20 000

70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89

0

2 000

4 000

6 000

8 000

10 000

12 000

14 000

16 000

18 000

20 000

90 91 92 93 94 95 96 97 98 99 00 01 02 03 04 05 06

non-u

rba

n a

rea

people

8/84 - mandatory

to use seatbelts

(warning charge)

pedestrians

cyclists

motorcyclists

car passengers

other

Fatalities in Road Trafficin the Federal Republic of Germany

considering location of accident and type of vehicle

8/80 - mandatory to use helmets

(warning charge)

10/72 -100kph on secondary

roads Landstraßen

4/98 - 0,5 per mil blood

alcohol limit

7/73 - 0,8 per mil blood alcohol limit

11/73 - oil crisis

reu

nific

atio

n o

f G

erm

an

y 3

.10

.19

90

77 - mandatory to use front seatbelts

3/74 - recom. 130kph on highways

74 - mandatory to install seatbelts

80 - driver air bag introduced

88 - front passenger air bag introduced

95 - side air bag introduced

95 - ESC (Electronic Stability

Control) introduced

people

urb

an a

rea

non

-urb

a a

rea

urb

an a

rea

(source: Federal statistical office)BOSCH CR/AEV1- accident research

78 - antiblocking system introduced





Superior

卓越卓越卓越卓越Comfortable

舒适舒适舒适舒适

Safe安全安全安全安全


8

Evasive Steering Support (ESS-T)避让转向支持避让转向支持避让转向支持避让转向支持� improve steerability and brake performance 提升转向性和制动性能Optimal steering support to avoid collisions优化转向支持以避免碰撞

Evasive Steering Support (ESS-T)避让转向支持避让转向支持避让转向支持避让转向支持� improve steerability and brake performance 提升转向性和制动性能Optimal steering support to avoid collisions优化转向支持以避免碰撞




Side View Assist: US-based Blind Spot Detection

侧视辅助：基于超声波的盲点探测侧视辅助：基于超声波的盲点探测侧视辅助：基于超声波的盲点探测侧视辅助：基于超声波的盲点探测� Monitoring of the adjacent and rear lanes 监视相邻及后方车道Reduction of accident risk while changing lanes 减少变道时事故

Lane Departure Warning 离线预警离线预警离线预警离线预警� Tracking the vehicle position within lane markings探测车辆在车道中的位置

Early correction of driving mistakes 早期改正驾驶错误

Night Vision and Night Vision Plus 夜视系统及升级版夜视系统及升级版夜视系统及升级版夜视系统及升级版� Light detection with infrared sensitive camera

光线探测及红外线摄像头Early recognition of possible dangers 早期识别可能的危险


Safety functions – Examples 安全功能示例

9





Evasive Steering Support by Torque (ESS-T)扭矩式避让转向支持(ESS-T)

ESS-T

Hazards危险� Getting off road 驶离路面� Incomplete manoeuvre (rear-end collision)避让不及（追尾事故）

� High risk of even more severe crashes发生更严重事故的风险发生更严重事故的风险发生更严重事故的风险发生更严重事故的风险

Situation情况

� Optimal steering support to avoid front crashes优化转向支持以避免追尾

� Reduced risk of crashes and injuries降低事故和受伤风险

� Potential rear-end collision潜在的追尾事故危险

� Emergency braking is insufficient to avoid accident紧急制动不足以避免事故

� Evasive maneuver must be undertaken必须进行紧急避让

� Driver inexperienced and stressed驾驶员缺乏经验并且紧张

� Driver likely over-reacts or under-reacts驾驶员可能反应过度或反应不足驾驶员可能反应过度或反应不足驾驶员可能反应过度或反应不足驾驶员可能反应过度或反应不足

10





ESS-T Function Description ESS-T 功能描述

critical driving situation危急行驶情况

potential driver intention: avoidance by evasion驾驶者潜在意图：避让以避免事故

evasion supporttriggered by driver驾驶者触发触发触发触发避让支持

Time to Collision

碰撞前时间碰撞前时间碰撞前时间碰撞前时间 ESS – window for initiation of support

ESS –启动支持的窗口启动支持的窗口启动支持的窗口启动支持的窗口

risk of rear-end collision追尾危险追尾危险追尾危险追尾危险collision unavoidable

碰撞不可避免碰撞不可避免碰撞不可避免碰撞不可避免

reaction time反应时间反应时间反应时间反应时间

decreasing number of options for driver in order to avoid collision

驾驶者避免碰撞的选择减少驾驶者避免碰撞的选择减少驾驶者避免碰撞的选择减少驾驶者避免碰撞的选择减少

evasion likely to be chosen 可能选择避让可能选择避让可能选择避让可能选择避让

11

What ESS-T does ESS-T 动作动作动作动作:


Demonstration maneuver description 演示路线描述




50 km/h 3m

20m100m

� Approaches the obstacle with a constant speed of 50 km/h以50 km/h匀速接近障碍物

� Does not brake不进行制动

� Performs an evasive maneuver to avoid the obstacle进行避让操作以避开障碍物

� Provides no support at all as long as the driver does not decide to perform an evasive maneuver驾驶者未决定进行避让操作时不提供支持

� Supports the driver during evasion by either:避让中支持驾驶者，通过，

� Additional torque on the steering wheel (in case the driver has under-reacted)增加方向盘扭矩（驾驶者反应不足时）

� Corrective torque on the steering wheel (in case the driver has over-reacted)修正方向盘扭矩（驾驶者反应过度时）

What the driver does驾驶者动作驾驶者动作驾驶者动作驾驶者动作:

Test track plan 测试路平面图测试路平面图测试路平面图测试路平面图

12

� ESS-T corrects the driver’s insufficient input in case n°1 and the excessive reaction in case n°2. In both cases the right amount of steering torque is finally input. The obstacle is safely avoided.ESS-T纠正驾驶者在情况1中的不足转向输入和情况2中的过度反应。在两种情况中正确的转向扭矩是最终的输入。障碍被安全地避让。


Demonstrations: over and under-reaction演示：过度和不足反应




�

Time 时间

Ste

erin

g to

rque

转向扭矩

– Driver驾驶者驾驶者驾驶者驾驶者 – ESS-T

1. Driver under-reacts (with ESS-T)驾驶者反应不足驾驶者反应不足驾驶者反应不足驾驶者反应不足 (有有有有ESS-T)

2. Driver over-reacts (with ESS-T)驾驶者反应过度驾驶者反应过度驾驶者反应过度驾驶者反应过度(有有有有ESS-T)

Time 时间

Ste

erin

g to

rque

转向扭矩

– Driver驾驶者驾驶者驾驶者驾驶者 – ESS-T

13





Driver驾驶者驾驶者驾驶者驾驶者

ESS-T

start end

– Driver – ESS-T

ESS-T provides

additional torque

Insufficient

driver input

driver

ESS-T

Driver驾驶者驾驶者驾驶者驾驶者

ESS-T

– Driver – ESS-T

start end

ESS-T provides

counter-torque

Excessive

driver input

Demonstrations: over and under-reaction演示：过度和不足反应

1. Driver under-reacts (with ESS-T)驾驶者反应不足驾驶者反应不足驾驶者反应不足驾驶者反应不足 (有有有有ESS-T)

2. Driver over-reacts (with ESS-T)驾驶者反应过度驾驶者反应过度驾驶者反应过度驾驶者反应过度(有有有有ESS-T)

Ste

erin

g to

rque

转向扭矩

Ste

erin

g to

rque

转向扭矩

Time 时间 Time 时间

� ESS-T corrects the driver’s insufficient input in case n°1 and the excessive reaction in case n°2. In both cases the right amount of steering torque is finally input. The obstacle is safely avoided.ESS-T纠正驾驶者在情况1中的不足转向输入和情况2中的过度反应。在两种情况中正确的转向扭矩是最终的输入。障碍被安全地避让。




Superior








Semi-Autonomous Parking半自动泊车

Customer benefits客户获益客户获益客户获益客户获益� Easier and more convenient parallel

parking 侧方停车更容易更方便

� Avoidance of long or unsuccessful parking attempts避免长时间或不成功的泊车尝试

� Available parking space is used more efficiently更有效地利用停车位

Specifications规格规格规格规格� Functional extension of Park Pilot and

Parking Space Measurement倒车雷达和车位测量的功能延伸

� Driver guided via HMI to follow a calculated trajectory通过人机界面引导驾驶员跟从计算的路线

• Coupled with steering angle sensor与转向角传感器联结

• Dynamic recalculation in case of false steering转向错误时动态重算

� System consists of ECU and up to 10 ultrasound sensors (incl. 2 sensors with a detection range of approx. 4 m)系统包括ECU及最多达10个超声波传感器（包括2个探测范围约4m的传感器）

LS-CAN

HS-CAN

PSI/PSCECU

EPSECU

CANGateway

sensor for depth measurement测量深度的传感器测量深度的传感器测量深度的传感器测量深度的传感器





sensor for depth measurement


Semi-Autonomous Parking半自动泊车




Superior








Highlights of Vehicle Dynamics Management functions (VDM)车辆动态管理功能精选Dynamic Steering Torque Control 动态转向扭矩控制动态转向扭矩控制动态转向扭矩控制动态转向扭矩控制(DST)� motivate the driver to more adequate steering 激励驾驶者更充分地转向

Improve the driver’s steering reactions提升驾驶者转向反应

Dynamic Wheel Torque Control (DWT)

� enhance agility, traction and stability

Emphasize the sporty characteristics of a vehicle

Dynamic Damper Force Control 动态阻尼力控制动态阻尼力控制动态阻尼力控制动态阻尼力控制(DDF)� improve steerability and brake performance提升转向性和制动性能

Comfortable support for ESP®

ESP®的舒适性支持

Picture: ZF Lenksysteme GmbH

Picture: GKN

EPS – Electric Power Steering

ETV – Electr. Torque Vectoring

Semi-active damper control


Dynamic Wheel Torque Control 动态车轮扭矩控制动态车轮扭矩控制动态车轮扭矩控制动态车轮扭矩控制(DWT)� enhance agility, traction and stability增强灵活性，牵引力和稳定性

Emphasize the sporty characteristics of a vehicle突出车辆的运动特性

Picture:ZFLS GmbH

Dynamic Steering Angle Control (DSA)

� improve yaw stability and straight running

Steering like a perfect driver

AFS – Active Front SteeringDynamic Steering Angle Control 动态转向角度控制动态转向角度控制动态转向角度控制动态转向角度控制(DSA)� improve yaw stability and straight running提升横摆稳定性和直线行驶

Steering like a perfect driver如完美驾驶者般转向




Comfortable interventions for improved agility without deceleration.舒适干预提升灵活性而无需减速

Physical effects for DWT – generalDWT 的实际效果 –总体

Brakes

Engine torque increased发动机扭矩增加

Engine

DWT-B with ESP®premiumDWT-B和ESP®premium

DWT-D: Combination of differential and ESP® interventionsDWT-D: 差速器和ESP®干预相结合

Engine torque constant发动机扭矩恒定

Reduced brake Interventions减少制动干预

Active Differential主动差速器

DWT-D: Dynamic Wheel Torque Control by Differential


Torque outer wheel外侧车轮扭矩

Torque inner wheel内侧车轮扭矩

Yaw Rate横摆角速度

DWT-B: Dynamic Wheel Torque Control by Brake

Principle of Dynamic Wheel Torque Control (DWT)动态车轮扭矩控制(DWT)原理




Dynamic Wheel Torque Control-Reduced steering effort

动态车轮扭矩控制 -减轻转向工作量

Significant agility improvements for quick steering wheel inputs

显著提升快速方向盘输入时的灵活性

ESP®premium

Integral ofsteering wheel

angle方向盘转角总量

DWT-B

-12 … -30%

DWT-D

-6 … -20%

Maneuver: 18 m slalom on high-µ at vehicle speed 55 kph

路线：高附着路面车速55 kph 18米绕桩

Vehicle: Rear wheel drive vehicle of E segment,

sporty ESP calibration

车辆：E级后轮驱动车辆，运动型ESP调校

DWT-B: Dynamic Wheel Torque Control by BrakeDWT-D: Dynamic Wheel Torque Control by Differential





VDM Functional Integration of three ActuatorsVDM 功能整合三个执行器

Synergies between functions多功能协同运作�Acceleration on split-µ 分割路面加速

�optimized traction by DWT-D DWT-D优化牵引力�automatic counter-steering by new DSA function新的DSA功能自动反向转向

�Oversteering control w/ optimized distribution to actuators优化执行器分配的转向过度控制�increased intervention comfort增加干预舒适性�reduced brake interventions减少制动干预�reduced speed loss减少速度损失

Picture:ZFLS GmbH

AFS – Active Front Steering

ESP® premium DSA Dynamic Steering

Angle Control动态转向角度控制

DWT-D Dynamic Wheel Torque

Control by Differential

差速式动态车轮扭矩控制

Picture: GKN

ETV – Electr. Torque Vectoring

+ +

Drive presentation at 2008 winter testing in Sweden 2008年瑞典冬季试验驾驶体验





Multi Actuator Vehicle (MAV) Benefit多执行器车辆获益: Optimal Distribution of Interventions优化干预分配

Significant speed and comfort benefit by networking ESP® + AFS + TV

通过网络化ESP® + AFS + TV在速度和舒适性方面获益显著

Test conditions测试条件: - 80 km/h, - 100 deg steering amplitude,100度转向幅度

- µ=1, - stability always maintained始终保持稳定

AFS: Active Front Steering TV: Torque Vectoring MAV: Multi-Actuator VDM

ESP®

soloESP®

w/ MAV

2,92m/s

2,36m/s

2,50m/s

ESP®

w/ DSA

19%14%

speed loss速度损失速度损失速度损失速度损失(velocity difference start to end)

（开始至结束的速度差）

ESP®

soloESP®

w/ MAV

36bar s

12bar s

21bar s

ESP®

w/ DSA

67%43%

brake interventions制动干预制动干预制动干预制动干预(integral of sum of all wheel pressures)

（各轮缸压力总合）

500 ms

−dAmp

dAmp

Ste

ering a

ngle

转向角


Time时间





Superior卓越卓越卓越卓越

Comfortable



24


Vehicle Motion Management - VMM



Visions future networking of vehicle domains未来车辆功能域网络化远景

Networkingof safety &comfort安全性和舒安全性和舒安全性和舒安全性和舒适性网络化适性网络化适性网络化适性网络化

Coupling steering withESP®

联结转向和联结转向和联结转向和联结转向和ESP®

Vehicle DynamicsManagement车辆动态管理车辆动态管理车辆动态管理车辆动态管理

Networkingof stability &agility

稳定性和灵稳定性和灵稳定性和灵稳定性和灵活性网络化活性网络化活性网络化活性网络化

2000 2010 future2020

Park assist泊车辅助泊车辅助泊车辅助泊车辅助

Predictive Safety Systems

Adaptive Cruise Control自适应巡航控制自适应巡航控制自适应巡航控制自适应巡航控制

Stop & Go停走功能停走功能停走功能停走功能

VMM -Vehicle

CAPS -Combined Active & Passive Safety�� accident avoidance & mitigationCAPS-整合式整合式整合式整合式主被动安全系统主被动安全系统主被动安全系统主被动安全系统��事故避免事故避免事故避免事故避免和缓解和缓解和缓解和缓解

Vehicle

Guidance

车辆引导车辆引导车辆引导车辆引导

&

Accident-free

Driving

行车无事故行车无事故行车无事故行车无事故

Motion Management

车辆运动管理车辆运动管理车辆运动管理车辆运动管理




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Documents

China International Automotive ... - ika.rwth- · PDF file2 Consumer behavior 消费者行为 Individualization -> Fun to drive 个性化-> 驾驶乐趣 Safe, superior & comfortable