電子穩(wěn)定程序系統(tǒng)介紹說(shuō)明

ESPESPElectronicStabilityProgramAnZhouHuihui19Nov2008ChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPESPContents IntroductiontoESP ExtraComplexitiesofESPComparedto ESPSystemDevelopmentTechnicalRequirementsESP系統(tǒng)開發(fā)的相關(guān)技術(shù)要求 ChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPESPAbbreviationABS–AntilockBrakeBSC–BrakeSlipController,thedifferentnameofABSinTCS–TractionControlASR–AntiSlipRegulationorAccelerationSlipRegulation,thedifferentsameofAMR–Antriebsmomentenregelung=EngineTorqueControl(partofTCS)BMR–Bremsmomentenregelung=BrakeTorqueControl(partofTCS)VDC–VehicleDynamicControl=FZRinESPFZR–Fahrzeugdynamikregler=VehicleDynamicControlDTC–DragTorqueControl=EBD–ElectronicBrakeForceESC–ElectronicStabilityControl,thedifferentnameofESPinESP–ElectronicStabilityFMVSS–FederalMotorVehicleSafetyECU–ElectronicControlSIS–Sicherheits-Software=SafetyVAF–ValueAddedFunctionsHBA–HydraulicBrakeAssistHHC–HillHoldControlCAN–ControllerAreaChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPChassisESPChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.IntroductiontoESP電子穩(wěn)定程序ESP系統(tǒng)介ESPOverview-IntroductiontoESPESPESPOverview-IntroductiontoESPESPDefinitionin ESP在FMVSS126中的ESP(calledESCinFMVSS126isasystemthathasallofthefollowingattributes:Augmentsvehicledirectionalstabilitybyapplyingandadjustingthevehiclebraketorquesindividuallytoinduceacorrectingyawmoment通過(guò)對(duì)單個(gè)車輪應(yīng)用和調(diào)節(jié)制動(dòng)力來(lái)產(chǎn)生一個(gè)糾偏的橫擺力矩，從而增強(qiáng)車輛的方向穩(wěn)定性Iscomputercontrolledwiththecomputerusingaclosed-loopalgorithmtolimitvehicleoversteeringand通過(guò)閉環(huán)算法的計(jì)算機(jī)控制來(lái)限制車輛的過(guò)度轉(zhuǎn)向或不Hasameanstodeterminethevehicle’syawrateandtoestimateitssidesliporsideslipderivativewithrespecttotime具備測(cè)量車輛橫擺角速度以及估算車輛側(cè)偏角或側(cè)偏角對(duì)時(shí)間微分Hasameanstomonitordriversteering Hasanalgorithmtodeterminetheneed,andameanstomodifyenginetorquetoassistthedriverinmaintainingcontrolofthevehicle具備調(diào)節(jié)發(fā)動(dòng)機(jī)輸出扭矩來(lái)幫助駕駛員保持對(duì)車輛的控制以及相關(guān)的算法來(lái)決定這一需要Isoperationaloverthefullspeedrangeofthevehicle(exceptatvehiclespeedslessthan15kphorwhenbeingdriveninreverse).能夠在車輛整個(gè)速度范圍內(nèi)作 （除了車輛的速度小于15kph或處于倒車模式ChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPOverview-ESPOverview-IntroductiontoESPComponentsof ESPHydraulicmodulatorwithattachedElectronicControlUnit&Pressure帶有ECU和壓力傳感器的液壓控制單Wheel-speedsensorsSteering-anglesensor轉(zhuǎn)向角傳Yaw-rateandlateralaccelerationsensorCommunicationwithenginemanagementsystem125 1 ChassisSystemsInternal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPOverviewESPOverview-IntroductiontoESPFunctionsof ESPABSBenefit:ESPBenefit:受益:消除側(cè)滑TCSAccelerationwithoutwheel受益:加速不打ESPincludesallABS&TCS 涵蓋了ABS和TCS的所有功ChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPOverviewESPOverview-IntroductiontoESPHowDoesESPWork(1/3)ESP如何工ESPanalyzesWhatisthedriver’sintentionPositionofthesteering方向盤的位wheel 車輪positionoftheaccelerator油門位brakepressure制動(dòng)壓=ECUdriver’s SteeringECU識(shí)別駕BrakeChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPOverviewESPOverview-IntroductiontoESPHowDoesESPWork(2/3)ESP如何工ESPexaminesHowdoesthevehiclebehaveESP識(shí)別車輛的狀態(tài):Yawrate橫擺角速Lateral 側(cè)向力（加速度ECUcalculatesthevehicle’sbehaviourECU計(jì)算并識(shí)別車輛的狀態(tài)ChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPOverviewESPOverview-IntroductiontoESPHowDoesESPWork(3/3)ESP如何工ESPacts:It”steers“throughbrakeintervention TheECUcalculatestherequiredmeasuresECU計(jì)算為了保持穩(wěn)定所需的控制量 Thehydraulicunitquicklyandindividuallysuppliesthebrakepressureforeachwheel液壓模塊根據(jù)需要快速地分別對(duì)單個(gè)車輪進(jìn)行制 InadditionESPcanreducetheenginetorqueviaconnectiontotheenginemanagementsystem此外，ESP還能通過(guò)與發(fā)動(dòng)機(jī)ChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPOverview-ESPOverview-IntroductiontoESPWorkingPrincipleofESP ESP的工作原理Oversteering(轉(zhuǎn)向過(guò)度 Understeering(轉(zhuǎn)向不足Vehicleisspinning(rearaxleofthevehicle Thefrontaxleofthevehicleslidestowardsisslidingtowardstheoutsideofthecurve) theoutsideofthecurve Yawvelocityistoolarge橫擺角速度太 Yawvelocityistoosmall橫擺角速度太Yaw Yaw橫擺力 橫擺力 Stabilizationbybrakeinterventionat Stabilizationbybrakeinterventionthecurveouterfrontwheel atthecurveinnerrearwheel ChassisSystems Internal|CC/ESC1-CN|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPOverviewESPOverview-IntroductiontoESPWorkingPrincipleofESP ESP的工作原理ChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPOverviewESPOverview-IntroductiontoESPESPValue-addedFunctions:HillHoldControlwithLongitudinalAccelerationSensor(HHC-S) 增值功能：帶縱向加速度傳感器的駐坡控制Duringhillstarts,betweenreleasingbrakepedalanddrivingoff,thebrakepressureappliedbythedriverismaintainedforupto2stopreventthecarfromrollingback.ChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPOverviewESPOverview-IntroductiontoESPHHC-SSystem HHC-S系統(tǒng)ChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPOverview-IntroductiontoESPESPOverview-IntroductiontoESPESPValue-addedFunctions:HydraulicBrakeAssistHBA)ESP增值功能：液壓輔助制動(dòng)Thebrakepressureappliedbythedriverisoftennotsufficientinemergencysituations.HBArecognizesfastbutinsufficientpedalactuationandincreasesbrakepressureuptoABSlevel.HBAcansignificantlyreducethebrakingdistance.w/oChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights. Decreased distancewithHBA ESPOverviewESPOverview-IntroductiontoESPHBASystem HBAChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPChassisESPChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPSystemDefinitionsESPOverview-ESPSystemConceptofthe 控制ESPOverview-ESPSystemConceptofthe 控制器原ChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPOverviewESPOverview-ESPSystemSystemSoftware 系統(tǒng)ASW=ApplicationSoftware(hardwareControllersandApplication -Distributionintoseveraltasks(5,10,20,40,…CSW=CompleteSoftware-DataexchangebetweenASWandPSWbyuseofPSW=HSW+PSW=PlatformSoftware(hardwareRealtimeoperatingsystemCANHardwareinterface(sensors,valves,pumpChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPOverview-ESPOverview-ESPSystemASWSoftware ASW軟件SwitchoffandvGi, Lw, vGi,ay, pVor,MMot,... vRad,vGi,ay,Lw, ABS,PCA, BMR, HBA,IEL,HDC,Bls,Pw,MMot,nMot, CODR, HHC,EMP, RequirementsMbRadSoBSCMbRadSoFZR EV,AV,HSV, Controller-ChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.Controller-ESPOverview-ESPOverview-ESPSystemASWSoftware ASW軟件 Vehiclecontroller Brakeslip ABS Controlondriverrequest Dragtorquecontrol(MSR) Traction Enginetorque Braketorque ActiveControlled Hilldecent Electroniccontrolledbraking Coordinator(braketorque,drag Hydraulicinterfaceand Vehiclespeedcalculation(Referenzbildung) Drivetrain(Antriebsstrang) Controllerrelease Signalinterface Safetycontroller SafetymodelChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPOverview-ESPESPOverview-ESPSystemProposedECULayoutfor ESP8的ECU推薦結(jié)構(gòu)方 輪速 GearPosition/ShiftinCAN方向盤轉(zhuǎn)角 Class側(cè)向加速度&橫擺角速度ESP DmandandAy&Yaw CANChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.DiagToolBCM車身儀表控制模TCM(AT)EMSESPOverviewESPOverview-ESPSystemProposedSensorsfor ESP8的傳感器推SteeringAngleSensor Public,Ay,Ax&YawRateSensorDRS- Private(Note:Axsensorisonlyusedfor CompatiblewithBoschESPsystem,nofurtherHW/SW State-of-the-artinESP,scalablewithCAN針對(duì)ESP系統(tǒng)的最新傳感器技術(shù)，帶CAN接口，可擴(kuò)展升 Bestbalancebetweencost,performanceand SensorssignalsviaESPprivateCAN傳感器信號(hào)通過(guò)ESP本地CAN總線傳ChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPOverviewESPOverview-ESPSystemESPECUCAN ESP電控單元的CAN ESP8systemuseaTMS470microcontrollerhavingacompletefullCANcontrolleronchipESP8系統(tǒng)使用帶有完整CAN控制器的TMS470微控制器 CANBaudrateupto1MBaud(500kBaudifnotdefinedotherwise)CAN波特率最高支持1MBaud（標(biāo)準(zhǔn)波特率500kBaud，除非另外定義） FullimplementationofCANprotocol2.0B,configurableuseofstandard(11Bit)orextendedidentifier(29Bit)全面兼容CAN2.0B，可選用標(biāo)準(zhǔn)（11位）或擴(kuò)展（29位）標(biāo) Composedof0to8bytesof每條消息的數(shù)據(jù)段可包含0到8個(gè)字節(jié) AutomaticallyrecoveryfromBusOff具有從總線關(guān)閉狀態(tài)的自動(dòng)恢復(fù)ChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPOverview-ESPSystemESP8HUAssembly ESP8液壓模塊裝Pumphousing 電磁 接插電PumpESPOverview-ESPSystemESP8HUAssembly ESP8液壓模塊裝Pumphousing 電磁 接插電Pump泵 蓄能 壓力傳感附帶的電控單ChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPOverviewESPOverview-ESPSystemESPInterfacestoBrakeSystemandWiringHarness FourISO/JASOportstoindividualWheel分別與四個(gè)制動(dòng)輪缸相連的ISO/JASO制動(dòng)油管 分別與制動(dòng)主缸兩腔相連的ISO/JASO制動(dòng)油管 38PinsconnectorwhichcanbepurchasedfromBoschGS(UAES)38針接頭，可以從博世汽油機(jī)系統(tǒng)（聯(lián)電）ChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPOverviewESPOverview-ESPSystemBOSCHESP8PreliminaryDimensionBOSCHESP8初略尺寸示意圖 Box包裝wxhxl[mm]125x103x135 Weight重ChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPOverview-ESPSystemStandardmountingMotor-axis泵電機(jī)軸線水ChassisSystemsESPOverview-ESPSystemStandardmountingMotor-axis泵電機(jī)軸線水ChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPOverview-ESPSystemESPOverview-ESPSystem 安裝RBprovidesHUwithcenterpinand2boltswithrubberisolators(70shore);nutswillbepre-mountedbyRBBracketPlate:1.5-2.5mm Carinterfacewithpre- 支架板厚1.5-2.5 rubberisolator:allprovidedRequiredTorque:M=8+/-2 所需扭矩:M=8+/-2Nm ChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPOverviewESPOverview-ESPSystemESPPATASwitchStrategy Eachtimeafterignitionon,ESPisactivated每次點(diǎn)火以后，ESP系統(tǒng)自動(dòng) PATAisusedforswitchingoff/onESPondriver’s駕駛員可利用ESP開關(guān)來(lái)關(guān)閉和打開ESP系統(tǒng)功 ReasonsforPATA:ESPneedstobeswitchedoffwhenvehicleisstuckindeepsnowormud,orsportydrivingispreferred.ESPES） ThecommonapproachistodisableTCSandESPfunctionsduringPATAON,whileABSisstillenabled.Aboveacertainspeedthreshold(e.g.50kph),PATAisdeactivatedandESPhasfullfunctionality.當(dāng)ESP開關(guān)被按下時(shí)關(guān)掉TCS和ESP功能，ABS功能仍然是有效的。當(dāng)車速超過(guò)一定的（如50kph）時(shí)，ESP全部功能自動(dòng)恢ChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPOverviewESPOverview-ESPSystemOtherPossibleCustomerSpecific其它的客戶相關(guān)的 Wheelspeedoutputandvehiclespeed輪速輸出和車速輸 ABS/TCS/ESPactivesignaloutputABS,TCS,ESP的工作狀態(tài)輸出 ESPwarninglampstrategy Diagnosticsystemandfailuremode診斷系統(tǒng)和故障模 Variantscode變量代號(hào) Reprogrammingstrategy刷新策略（Bootblock功能 Endoflinetest下線檢測(cè)ChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPOverviewESPOverview-ESPSystemInformationRequiredtoDefinetheESP定義ESP系統(tǒng)所需要的 幾乎所有的必需信息列于ESP重要信息 ESPkeyinformationdataformtobefilledbythecustomerintheacquisition在項(xiàng)目獲取討論階段，客戶應(yīng)填寫ESP重要信息 ESPkeyinformationdataisalsoimportanttodotheProjectAssessmentandQuotation TheESPkeyinformationdatacanbeusedtodecidetheSW/Appefforts TheVehicleDataformisusedtocollectdatatodotheinitialparameterssettinginthe車輛參數(shù)表用來(lái)收集數(shù)據(jù)來(lái)進(jìn)行軟件參數(shù)的初ChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPChassisESPChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ExtraComplexitiesofESPComparedtoABS相對(duì)于ABS而言ESP的復(fù)雜ESPOverview-ExtraComplexitiesofComplexESP 復(fù)雜的ESPVehicledynamicresponse車輛動(dòng)力學(xué)響ESPOverview-ExtraComplexitiesofComplexESP 復(fù)雜的ESPVehicledynamicresponse車輛動(dòng)力學(xué)響Steeringsystem轉(zhuǎn)向系統(tǒng)模 Drivetrain動(dòng)力總成模Vehiclecharacteristicvelocity特征車 Engineresponse發(fā)動(dòng)機(jī)響Referencespeed參考車 Gearboxandtorque Muchmorevariants變速箱和變矩 ABSduetodifferentDrivetrainlosses動(dòng)力總成損 orvehicle Normalforce正壓 因?yàn)榻涌诤蛙囕v電器結(jié)構(gòu)的Tireforce輪胎受 同，ESP比ABS有更多的變calculation(friction)摩擦力估Brakesystem制動(dòng)系統(tǒng)模PVcharacteristic壓力流量特CP 單位壓力的制動(dòng)扭矩 Hardwired,CANThermalModel溫度模 硬線，CAN網(wǎng)Hardwired,CAN硬線，CANSAS,PSMuchmorepartsorcomponentsinfluenceonESP有更多的零部件對(duì)ESP的性能有影響ChassisSystems Internal|CC/ESC1-CN,Junjie|20/08/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.車控制ESPOverview-ExtraComplexitiesofFromABS/EBDBackupsystemtoESP從ABS/EBD的后備系統(tǒng)到ESP的安全MSRBMRAMR brakelightESPOverview-ExtraComplexitiesofFromABS/EBDBackupsystemtoESP從ABS/EBD的后備系統(tǒng)到ESP的安全MSRBMRAMR brakelightswitch 制動(dòng)燈開wheelspeed 輪速傳感keep ChassisSystems Internal|CC/ESC1-CN,Junjie|20/08/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.Lateral測(cè)向加速Yaw橫擺角速M(fèi)astercylinderUnderOverPumpMotorValveRelayStuckASV,USV,AV-RAEV,AV-FAASV,USVEV,AV-FAEV,AV-Mini-+1or2+AnyOtherFailurewhichleadstoEBDDoubleESPOverview-ExtraComplexitiesofESPValue-added ESP的附加It’snotjustamenutoletthecustomchoose.Eachofthemneedsgreatdevelopmenteffortsfromallparties,evenfromthecustomerhimself!Developmenttimeandcostcannotbeignored!ESPOverview-ExtraComplexitiesofESPValue-added ESP的附加It’snotjustamenutoletthecustomchoose.Eachofthemneedsgreatdevelopmenteffortsfromallparties,evenfromthecustomerhimself!Developmenttimeandcostcannotbeignored!ChassisSystems Internal|CC/ESC1-CN,Junjie|20/08/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.VAFFunctionFunctionBrake&BoostBrakeDisc HydraulicRearWheelSpecialStabilityLoad-AdaptiveControlModeforLCV/RollMovementRollOverTrailerSwayStandstill&SpeedAVH-HillDescentHHC-HillHoldControlwithAcceleration SoftTouchActivatedTrafficJamSurroundSensingSupport(incl.AdaptiveBrakeAutomaticBrakeCDD-ControlledDecelerationforDAS-CDD-ControlledDecelerationforDAS-Stop&CDD-SpecialTorqueOffRoadDetectionandMonitoring&TPM-ESPOverview-ExtraComplexitiesofAdditionalSensorRelated 額外ESPOverview-ExtraComplexitiesofAdditionalSensorRelated 額外的傳感器相關(guān)evenwithBoschChassisSystems Internal|CC/ESC1-CN,Junjie|20/08/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.forNon-BoschSoftwareDevelopmentforNon-BoschSensorssignal傳感器信號(hào)測(cè)InstallationandSASandESPOverviewESPOverview-ExtraComplexitiesofPerformance 性能 GB/T13594- 國(guó)標(biāo)GB/T13594- ECE-R13 歐洲標(biāo)準(zhǔn)ECE-R13 Customer's BoschcancommittoworkingwithOEMandsupportthevehicledevelopmenttowardsachievingESPspec BoschcanonlycommittoensurethoserequirementswhichareunderdirectinfluenceoftheBoschSystem,duetoinfluenceofvehicleparametersoutofBoschcontrol. UltimateresponsibilityforoverallvehicleperformanceandcompliancestilllieswiththeOEMandBoschcannotcommittobeingESPspeccompliantasitisavehicle-levelrequirement. Thefoundationandactuationofthebrakesystemmeetingthespecistheprerequisitetodevelopment.Boschwillnotdoanyhomologationverificationtestwhichshouldbedonebytheauthorizedthirdparty. ChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPChassisESPChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPSystemDevelopmentTechnicalRequirementsESP系統(tǒng)開發(fā)的相關(guān)技術(shù)要ESPOverviewESPOverview-TechnicalRequirementsforVehicle對(duì)車輛的基 FoundationofdiskbrakeonbothaxlesorofBoschIDE(InnovativeDrumbrakeforElectronicbrakingmanagement)drumbrake前后軸裝備盤式制動(dòng)器或博世的IDE鼓式制動(dòng) MasterCylinderdesignofCentralValveorStatic中心閥式或靜態(tài)密封圈式主 In-vehiclenetwork(suchasCAN)isavailableforcommunicationamongESP,engine,transmissionanddashboard具備車輛總線（如CAN）用以在ESP系統(tǒng)、發(fā)動(dòng)機(jī)、變速箱和儀表之間進(jìn) 發(fā)動(dòng)機(jī)管理系統(tǒng)在TCS和ESP模式下支持扭矩輸 發(fā)動(dòng)機(jī)具備電子節(jié)氣 TCMforautomatictransmissioncanmeetshiftingrequirementsduringTCSandESP自動(dòng)變速箱控制系統(tǒng)能夠滿足TCS和ESP模式下的換檔策ChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPOverviewESPOverview-TechnicalRequirementsonMaster 對(duì)制動(dòng)主缸MasterCylinder CentralValveorStatic 中心閥式或靜態(tài)密封圈Diameteroftheoutlet4.5 出油口直徑4.5MasterCylinder FromthereservoirtotheMC從儲(chǔ)液罐到主缸出油atambienttemperature(23°C) ?室溫（23°C）和壓差pressuredrop(4.5kPa)≥5.0 ≥5.0atambienttemperature(-25°C)pressuredrop(10kPa)3.0 ?室溫（-25°C）和壓差FlowdifferencebetweenMC1and ≥3.0atambienttemperature(-25°C) 室溫（-25°C）兩個(gè)回路的≤BrakeLinefromMCto Recommend6/8mm(outerdiameter)推薦外徑為6/8mm的制RecommendthestandardM12推薦標(biāo)準(zhǔn)M12安裝接Brakelinelength≤1mper管路長(zhǎng)度每回路Titeflex≤150mmper鋼絲護(hù)套長(zhǎng)度每回路150ChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPOverviewESPOverview-TechnicalASWCANOutputSignalsMinimum算法對(duì)CAN輸出信號(hào)的最ThefollowingCANsignalsaretransmitted(Tx)by以下CAN信號(hào)由ESPVariation1(recommended)--generallyWithETC(electronicthrottle第一種方案（推薦）- 通常帶電子節(jié)氣 RequestedESP/TCSTorque ESP/TCS要求發(fā)動(dòng)機(jī)慢調(diào)節(jié)的輸出扭矩（降扭 RequestedESP/TCSTorque ESP/TCS要求發(fā)動(dòng)機(jī)快調(diào)節(jié)的輸出扭矩（降扭 RequestedDTC DTC要求發(fā)動(dòng)機(jī)的輸出扭矩（升扭Variation2(lossoffunctionpossible)--generallywithoutETC(electronicthrottle第二種方案（可能功能下降）- 通常不帶電子節(jié)氣 RequestedESP/TCS ESP/TCS要求發(fā)動(dòng)機(jī)的輸出扭矩（降扭 RequestedDTC DTC要求發(fā)動(dòng)機(jī)的輸出扭矩（升扭Signalresolution:1bit≤1/250ofmaximumengine Recommended:1-5信號(hào)分辯率：1bit≤1/250發(fā)動(dòng)機(jī)最大扭 推薦值：1-ChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPOverviewESPOverview-TechnicalASWCANInputSignalsMinimum算法對(duì)CAN輸入信號(hào)的最 以下CAN信號(hào)需送給 EngineSpeed(1rpm/bit 發(fā)動(dòng)機(jī)轉(zhuǎn)速（1rpm/bitSignalresolutionisthe EngineTorque 發(fā)動(dòng)機(jī)當(dāng)前輸出扭astheprevious EngineTorqueDriver 駕駛員要求發(fā)動(dòng)機(jī)的輸出扭 信號(hào)分辯率同上一 Acceleratorpedalactualpositionthatincludestheeffectsfromthecruisecontrol(≤0.5%/bit綜合巡航控制的效應(yīng)后的加速踏板當(dāng)前位置（≤ ClutchSwitch離合器開 HandBrakeSwitch手剎開 Signalsonlyusedfor ReverseGear倒檔信 變速箱當(dāng)前檔 Signalresolutioniscustomer TransmissionGearShiftin 變速箱換ChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPOverviewESPOverview-TechnicalCANSignalsFurtherDescriptionAllenginetorqueinformationistobehandledaseffectivetorqueavailableat發(fā)動(dòng)機(jī)扭矩信號(hào)是指飛輪端的有Alltorquelossesmustbeaccordinglytakenintoaccountorbe所有的扭矩?fù)p失必須考慮進(jìn)去或Nohigherprioritizationoftorqueadjustmentexceptacommon除非雙方同意，沒(méi)有其他更高優(yōu)先級(jí)的扭Theenginemustbeabletoprovideallrequestedtorquevaluesbetweenmaximaldragtorque(negativetorque)andthemaximumtorqueachievablewithoutTCSpositivetorque)Theupdaterateofallsignalsshouldbeatleast50Hz(updateevery20msor所有信號(hào)的刷新頻率不能低于50Hz（每20ms或更快刷新一次ChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPOverviewESPOverview-TechnicalApplicationRequiredEngineCalibration匹配需要采用的發(fā)動(dòng)機(jī)標(biāo) Torquemodelhasbeenestablishedbasedonenginedyno扭矩模型已經(jīng)通過(guò)發(fā)動(dòng)機(jī)臺(tái)架標(biāo) Allpowertrainsoftwarefeatures(e.g.snowmode,ACC,sportymode)所有的動(dòng)力總成軟件功能（例如：雪地模式，自適應(yīng)巡航，運(yùn)動(dòng)模式）已激 Calibrationevaluatedforperformanceanddrivabilityatnormalaltitudesand動(dòng)力性和駕駛性評(píng)估已經(jīng)在通常海拔高度和環(huán)境下 ComprehensiveComponent(e.g.sensors,ECU,CAN)Diagnostics各組件（例如：傳感器，ECU，CAN）診斷功能已激 ProductionIntentControllerwithintegrated使用用于正式生產(chǎn)的控制器和集 Torqueresponsetimeiswithin200ms,steady-statetorquedeviationislessthan扭矩響應(yīng)時(shí)間在200ms以內(nèi)，穩(wěn)態(tài)扭矩誤差應(yīng)小于ChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPOverviewESPOverview-TechnicalRequiredGearShiftStrategy需要采用的換檔策略（自動(dòng)變速箱 NoshiftingduringESP在ESP作用時(shí)不應(yīng)換 NodownshiftingduringTCS在TCS作用時(shí)不應(yīng)降 Up-shiftstotakeplacepriortoenginered在發(fā)動(dòng)機(jī)轉(zhuǎn)速進(jìn)入紅線之前升 PCMisresponsiblefortorquemanagementduringup-升檔時(shí)動(dòng)力總成控制模塊進(jìn)行輸出扭 Noup-shiftingwithinfirstseveralsecondsofthetractionevent(unlessforcedredline在牽引力控制系統(tǒng)作用時(shí)最初5秒不應(yīng)升檔（除非轉(zhuǎn)速超過(guò)紅線 IfTCUinterfereswithESP/TCSinterventionintheformofundesiredgearshift,additionalsignalsmaybedefined(e.g.ESPdesiredgearposition/ratio,gearshiftprohibit)tofavorESP/TCSfunctions在ESP/TCSTCUESP/TCS（如：ES/ESP/TCS性能ChassisSystems Internal|CC/ESC1-CN,JunjieHe|19/11/2008|?RobertBoschGmbH2008.Allrightsreserved,alsoregardinganydisposal,exploitation,reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPOverviewESPOverview-TechnicalESPSystem 對(duì)ESP系統(tǒng)有影響 Vehicle 車輛動(dòng)力學(xué)特 Brake CoG 重心高 Mastercylinderflow Tiresizeand Brakepipediameterand輪胎尺寸和結(jié) 制動(dòng)管直徑和長(zhǎng) Spring BrakesystemvolumeAntiroll 橫向穩(wěn)定 制動(dòng)系統(tǒng)的制動(dòng)液消耗 減振特 Pad Steering 轉(zhuǎn)向特 Effectived