教案成果讲稿esp8 overview 2008new

ESPAnZhouHuihui19Nov2008ChassisSystems1Internal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrights1ESPContents IntroductiontoESP ESPSystemDefinitions ExtraComplexitiesofESPComparedto ESPSystemDevelopmentTechnicalRequirementsESP系统开发的相关技术要求 ESPDevelopment ChassisSystems2Internal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrights2ESPAbbreviationABS–AntilockBrakeBSC–BrakeSlipController,thedifferentnameofABSinTCS–TractionControlASR–AntiSlipRegulationorAccelerationSlipRegulation,thedifferentsameofAMR–Antriebsmomentenregelung=EngineTorqueControl(partofTCS)BMR–Bremsmomentenregelung=BrakeTorqueControl(partofTCS)VDC–VehicleDynamicControl=FZRinESPFZR–Fahrzeugdynamikregler=VehicleDynamicControlDTC–DragTorqueControl=MSR–Motorschleppmomentenregelung=engineDragTorqueControlEBD–Electronic ESC–ElectronicStabilityControl,thedifferentnameofESPinESP–ElectronicStabilityFMVSS–FederalMotorVehicleSafetyECU–ElectronicControlSIS–Sicherheits-Software=SafetyVAF–ValueAddedFunctionsHBA–HydraulicBrakeAssistHHC–HillHoldControlCAN–ControllerAreaChassisSystems3Internal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrights3ESPIntroductiontoESPChassisSystems4Internal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrights4ESPOverview-IntroductiontoESPESPDefinitionin ESP(calledESCinFMVSS126isasystemthathasallofthefollowingattributes:AugmentsvehicledirectionalstabilitybyapplyingandadjustingthevehiclebraketorquesindividuallytoinduceacorrectingyawmomentIscomputercontrolledwiththecomputerusingaclosed-loopalgorithmtolimitvehicleoversteeringandHasameanstodeterminethevehicle’syawrateandtoestimateitssidesliporsideslipderivativewithrespecttotimeHasameanstomonitordriversteering Hasanalgorithmtodeterminetheneed,andameanstomodifyenginetorquetoassistthedriverinmaintainingcontrolofthevehicleIsoperationaloverthefullspeedrangeofthevehicle(exceptatvehiclespeedslessthan15kphorwhenbeingdriveninreverse). ChassisSystems5Internal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrights5ESPOverview-IntroductiontoESP 125 1 ChassisSystems6Internal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrights6ESPOverview-IntroductiontoESPFunctionsof ABSBenefit:ESP ctsTCSESPincludesallABS&TCS ChassisSystems7Internal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrights7ESPOverview-IntroductiontoESPHowDoesESPWork(1/3)ESP yzesWhatisthedriver’sintentionPositionofthesteeringwheel positionoftheacceleratorbrakepressure=ECUrecognizesdriver’sintentionECU识别驾驶意图

SteeringBrake车轮ChassisSystems8Internal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrights8ESPOverview-IntroductiontoESPHowDoesESPWork(2/3)ESPESPexaminesHowdoesthevehiclebehaveESP识别车辆的状态:Yawrate ECUcalculatesthevehicle’sbehaviourECU计算并识别车辆的状态ChassisSystems9Internal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrights9ESPOverview-IntroductiontoESPHowDoesESPWork(3/3)ESPESPactsIt”steersthroughbrakeintervention TheECUcalculatestherequiredmeasuresECU计算为了保持稳定所需的控制量 ThehydraulicunitquicklyandsthebrakepressureforeachInaddition,ESPcanreducetheenginetorqueviaconnectiontoChassisSystemsInternal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrightsESPOverview-IntroductiontoESPWorkingPrincipleofESP Vehicleisspinning(rearaxleofthevehicleisslidingtowardstheoutsideofthecurve)Yawvelocityistoolarge

ThefrontaxleofthevehicleslidestowardstheoutsideofthecurveYawvelocityistoosmall

Yaw

Yaw Stabilizationbybrakeinterventionatthecurveouterfrontwheel

StabilizationbybrakeinterventionatthecurveinnerrearwheelChassisSystemsInternal| |19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrightsESPOverview-IntroductiontoESPWorkingPrincipleofESP ChassisSystemsInternal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrightsESPOverview-IntroductiontoESPESPValue-addedFunctions:HillHoldControlwithLongitudinalAccelerationSensor(HHC-S)Duringhillstarts,betweenreleasingbrakepedalanddrivingoff,thebrakepressureappliedbythedriverismaintainedforupto2stopreventthecarfromrollingback. ChassisSystemsInternal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrightsESPOverview-IntroductiontoESP ChassisSystemsInternal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrightsESPOverview-IntroductiontoESPESPValue-addedFunctions:HydraulicBrakeAssist(HBA)ESP增值功能： Thebrakepressureappliedbythedriverisoftennotsufficientinemergencysituations.HBArecognizesfastbutinsufficientpedalactuationandincreasesbrakepressureuptoABSlevel.HBAcansignificantlyreducethebrakingdistance. distancewithHBAw/oChassisSystemsInternal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrightsESPOverview-IntroductiontoESPHBASystem ChassisSystemsInternal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrightsESPESPSystemDefinitionsChassisSystemsInternal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrightsESPOverview-ESPSystemConceptofthe ChassisSystemsInternal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrightsESPOverview-ESPSystem

Distributionintoseveraltasks(5,10,20,40,…CSW=CompleteSoftware-DataexchangebetweenASWandPSWbyuseofPSW tformSoftware(hardwareRealtimeoperatingsystemCANHardwareinterface(sensors,valves,pump

PSW=HSW+ChassisSystemsInternal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrightsESPOverview-ESPSystem

ABS,PCA, HBA,IEL,HDC,BMR,CODR, HHC,EMP,EV,AV,HSV,

SwitchoffandvGi,ay,pVor,MMot,vRad,vGi,ay,Lw,pVor,Bls,Pw,MMot,nMot,

MbRadSoBSC

ChassisSystemsInternal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrightsESPOverview-ESPSystem Vehiclecontroller Brakeslip Traction ActiveControlled

ABS Rearaxletorquemodification Controlondriverrequest Dragtorquecontrol(MSR) Enginetorquecontrol Braketorquecontrol Hilldecent Coordinator(braketorque,drag Hydraulicinterfaceand Vehiclespeedcalculation(Referenzbildung) Drivetrain(Antriebsstrang) Controllerrelease Signalinterface Safetycontroller SafetyChassisSystemsInternal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrightsESPOverview-ESPSystemProposedECULayoutfor

Torque/RPM/Accelerator/WheelEMSEMSTCM(AT)GearPosition/ShiftTCM(AT)ESPClass侧向加速度&Ay&Yaw

CANBUS

EBD/ABS/ESPActive/WarningDiag.ToolDmandDiag.ToolChassisSystemsInternal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrightsESPOverview-ESPSystem SteeringAngleSensor

Public侧向加速度,纵向加速度&横摆角速度传感器Ay,Ax&YawRateSensorDRS-MM3.8(Note:AxsensorisonlyusedforHHC)

Private CompatiblewithBoschESPsystem,nofurtherHW/SW与博世ESP State-of-the-artinESP,scalablewithCAN针对ESP系统 传感器技术，带CAN接口，可扩展升 Bestbalancebetweencost,performanceand SensorssignalsviaESPprivateCAN传感器信号通过ESP本地CANChassisSystemsInternal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrightsESPOverview-ESPSystemESPECUCAN ESP8systemuseaTMS470microcontrollerhavingacompletefullCANcontrolleronchipESP8系统使用带有完整CAN控制器的TMS470微控制器 CANBaudrateupto1MBaud(500kBaudifnotdefinedotherwise) FullimplementationofCANprotocol2.0B,configurableuseofstandard(11Bit)orextendedidentifier(29Bit) Composedof0to8bytesof AutomaticallyrecoveryfromBusOffChassisSystemsInternal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrightsESPOverview-ESPSystemESP8HUAssembly PumpChassisSystems

Internal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrightsESPOverview-ESPSystemESPInterfacestoBrakeSystemandWiringHarness FourISO/JASOportstoindividualWheel TwoISO/JASOportstoeachMasterCylinder 38PinsconnectorwhichcanbepurchasedfromBoschGS(UAES)ChassisSystemsInternal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrightsESPOverview-ESPSystemBOSCHESP8初略尺寸示意图

Boxwxhxl[mm]125x103x135 ChassisSystemsInternal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrightsESPOverview-ESPSystemStandardmountingChassisSystemsInternal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrightsESPOverview-ESPSystem RBprovidesHUwithcenterpinand2boltswithrubberisolators(70shore);nutswillbepre-mountedbyRB CustomerIsolator65 te:1.5-2.5mm支架板厚1.5-2.5RequiredTorque:M=8+/-2所需扭矩:M=8+/-2ChassisSystems

Carinterfacewithpre-mountedrubberisolator:allprovidedbyInternal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrightsESPOverview-ESPSystemESPPATASwitchStrategy Eachtimeafterignitionon,ESPisactivated PATAisusedforswitchingoff/onESPondriver’s ReasonsforPATA:ESPneedstobeswitchedoffwhenvehicleisstuckindeepsnowormud,orsportydrivingispreferred. ThecommonapproachistodisableTCSandESPfunctionsduringPATAON,whileABSisstillenabled.Aboveacertainspeedthreshold(e.g.50kph),PATAisdeactivatedandESPhasfullfunctionality.ChassisSystemsInternal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrightsESPOverview-ESPSystem Wheelspeedoutputandvehiclespeed ABS/TCS/ESPactivesignaloutputABS,TCS,ESP的工作状态输出 ESPwarninglampstrategy Diagnosticsystemandfailuremode EndoflinetestChassisSystemsInternal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrightsESPOverview-ESPSystemInformationRequiredtoDefinetheESP AlmostallnecessaryinformationislistedinESPkeyinformationdata ESPkeyinformationdataformtobefilledbythecustomerintheacquisition ESPkeyinformationdataisalsoimportanttodotheProjectAssessmentandQuotation TheESPkeyinformationdatacanbeusedtodecidetheSW/Appefforts TheVehicleDataformisusedtocollectdatatodotheinitialparameterssettingintheChassisSystemsInternal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrightsESPExtraComplexitiesofESPComparedtoABSChassisSystemsInternal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrightsESPESPOverview-ExtraComplexitiesof 正压力 轮胎受力mcalculation(friction)

Drivetrain动力总成模型Engineresponse发动机响应Drivetrainlosses

MuchmorevariantsthanABSduetodifferentinterfaceorvehiclearchitecture Brakesystem制动系统模型PVcharacteristic压力流量特性CPvalue ThermalModel温度模型

InterfaceInterface

Interface

硬线，CAN硬线，CAN

ActuatorsActuatorsSensorsSensorsSAS,PS

MuchmorepartsorcomponentshaveinfluenceonESPperformance! 的零部件对ESP的性能有影响

ChassisSystemsInternal| ,Junjie|20/08/2008|©RobertBoschGmbH2008.Allrights reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPESPOverview-ExtraComplexitiesofFromABS/EBDBackupsystemtoESPbrakelightswitch switchedbrakelightswitch switchedwheelspeed 轮速传感 keepDisable EnableFAILURABEBUnderVoltagOverVoltagWSWSWSBLPumpMotoMotorRelaValveRelayInterruptioStuckOECValv(optional)ASV,USV,AV-RAEV,AV-FAASV,USVEV,AV-FAEV,AV-RMini-Spar+1or2WS+AnyOtherFailurewhichleadstoEBKeep-AlivDoubleFailure lswitchedYawswitchedMasterYawswitchedMastercylinderInternal| ,Junjie|20/08/2008|©RobertBoschGmbH2008.Allrights reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPESPOverview-ExtraComplexitiesofVAFFunctionBrake&BoostVAFFunctionBrake&BoostSpecialStabilityStandstill&SpeedSurroundSensingSupport(incl.SpecialTorqueMonitoring&FunctionBrakeDiscElectronicBrakeHydraulicBrake HydraulicBrakeHydraulicBoostFailureHydraulicFadingHydraulicRearWheelExtendedUndersteerLoad-AdaptiveControlModeforLCV/RollMovementRollOverTrailerSwayAVH-AutomaticVehicleHoldwithAccelerationAutomaticVehicleControlledDecelerationforParkingExtendedCruiseHillDescentHHC-HillHoldControlwithAcceleration SoftTouchActivatedTrafficJamAdaptiveBrakeAutomaticBrakeAutomaticEmergencyAutomaticWarningCDD-ControlledDecelerationforDAS-CDD-ControlledDecelerationforDAS-Stop&CDD-ControlledDecelerationforDAS-ZeroDynamicCenterCouplingTorqueOffRoadDetectionandTPM-TirePressureMonitoringwithCircumferenceIt’snotjusta toletthecustomchoose.Eachofthemneedsgreatdevelopmenteffortsfromallparties,evenfromthecustomerhimself!Developmenttimeandcostcannotbeignored!ChassisSystemsInternal| ,Junjie|20/08/2008|©RobertBoschGmbH2008.Allrights reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPOverview-ExtraComplexitiesof SASandSASandSoftwareDevelopmentforNon-BoschSoftwareDevelopmentforNon-BoschsensorsforNon-BoschsensorsChassisSystemsInternal| ,Junjie|20/08/2008|©RobertBoschGmbH2008.Allrights reproduction,editing,distribution,aswellasintheeventofapplicationsforindustrialpropertyrights.ESPOverview-ExtraComplexitiesof GB/T13594- ECE-R13 Customer's

国标GB/T13594- 欧洲标准ECE-R13 ChassisSystemsInternal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrightsESPESPSystemDevelopmentTechnicalRequirementsChassisSystemsInternal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrightsESPOverview-Technical FoundationofdiskbrakeonbothaxlesorofBoschIDE(InnovativeDrumbrakeforElectronicbrakingmanagement)drumbrake MasterCylinderdesignofCentralValveorStatic In-vehiclenetwork(suchasCAN)isavailableforcommunicationamongESP,engine,transmissionanddashboard EMScansupportenginetorquemodulationduringTCSandESP EnginewithETCelectronicthrottle TCMforautomatictransmissioncanmeetshiftingrequirementsduringTCSandESPChassisSystemsInternal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrightsESPOverview-Technical MasterCylinderDesignCentralValveorStaticSealDiameteroftheoutlet≥4.5mmMasterCylinderFlowFromthereservoirtotheMCatambienttemperature(23°C)andpressuredrop(4.5kPa)≥5.0cm3/satambienttemperature(-25°C)andpressuredrop(10kPa)≥3.0cm3/sFlowdifferencebetweenMC1andMC2atambienttemperature(-25°C)≤20%BrakeLinefromMCtomend6/8mm(outerdiameter)tubesmendthestandardM12fittingBrakelinelength≤1mpercircuitTiteflex≤150mmpercircuit

4.5≥5.0≥3.0≤ 推荐外径为6/8mm推荐标准M12ChassisSystemsInternal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrightsESPOverview-TechnicalASWCANOutputSignalsMinimumThefollowingCANsignalsaretransmitted(Tx)byVariation1(mended)--generallyWithETC(electronicthrottle 案（推荐）--通常带电子节气 Variation2(lossoffunctionpossible)--generallywithoutETC(electronicthrottle-- Signalresolution:1bit≤1/250 umengine mended:1-5信号分辩率：1bit≤1/250发动机最大扭 ChassisSystemsInternal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrightsESPOverview-TechnicalASWCANInputSignalsMinimumThefollowingCANsignalsarereceived(Rxby

Signalresolutionisthesameasthepreviouspage ClutchSwitch HandBrakeSwitch ReverseGear TransmissionGearShiftin

SignalsonlyusedforSignalresolutioniscustomerChassisSystemsInternal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrightsESPOverview-TechnicalAllenginetorqueinformationistobehandledaseffectivetorqueavailableatAlltorquelossesmustbeaccordinglytakenintoaccountorbeNohigherprioritizationoftorqueadjustmentexceptacommonTheenginemustbeabletoprovideallrequestedtorquevaluesbetween aldragtorque(negativetorque)andthe umtorqueachievablewithoutTCS(positivetorque)Theupdaterateofallsignalsshouldbeatleast50Hz(updateevery20msorChassisSystemsInternal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrightsESPOverview-Technical Torquemodelhasbeenestablishedbasedonenginedyno ChassisSystemsInternal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrightsESPOverview-Technical NoshiftingduringESP NodownshiftingduringTCS Up-shiftsto cepriortoenginered Noup-shiftingwithinfirstseveralsecondsofthetractionevent dredline IfTCUinterfereswithESP/TCSinterventionintheformofundesiredgearshift,additionalsignalsmaybedefined(e.g.ESPdesiredgearposition/ratio,gearshiftprohibit)tofavorESP/TCSfunctions ChassisSystemsInternal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrightsESPOverview-TechnicalESPSystem Vehicle CoG TiresizeandSpring Antiroll Steering

Brake Mastercylinderflow BrakepipediameterandBrakesystemvolumePad Effectivedisc/friction Engine TransmissioncalibrationGear Differential Torqueconverter

Load Wheel Track Weight Vehicle ThesecomponentsThesecomponentsandcharacteristicsshouldnotbechangedaftersoftwarefrozen,otherwiseverificationorevenretunewillbeneeded.ChassisSystemsInternal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrightsESPOverview-Technical MeetESPASWCANSignalsMinimum MeetESPSystemTorqueResponse MeetRequiredEngineCalibrationLevelandShiftIfIfthesecan’tbeguaranteed,theECM/TCM/BCMSWshouldbeeasilyupdatedonsiteduringESP如果在初 这些要求，那么发动机、变速箱和车身仪表控制器应该在ESP匹配地点很容易地进行软件更 KeepESPSystemInfluencecomponentsthesameasproduction ElectricallyreadyforapplicationincludingBrakeLightSwitch/ESPPATASwitch/Warninglamp/Wiringharness/Sensorinstallation AC/heating/illumination/speedometerisingoodChassisSystemsInternal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrightsESPESPnESPChassisSystemsInternal| JunjieHe|19/11/2008|©RobertBoschGmbH2008Allrights alsoregardinganydisposalexploitationreproductioneditingdistributionaswellasintheeventofapplicationsforindustrialpropertyrightsESPOve