Method and device for controlling driving dynamics
First Claim
1. A method for controlling driving dynamics, comprising:
- controlling at least one steering action of a vehicle axle;
ascertaining a driving-dynamics setpoint described by at least a yaw-dynamics setpoint;
determining a steering-angle precontrol value in accordance with the driving-dynamics setpoint using a model of a controlled system;
ascertaining a driving state at least described by a yaw rate;
determining at least one steering-angle correction value in accordance with a deviation of the yaw rate from a setpoint yaw rate; and
defining the steering action in accordance with the steering-angle precontrol value and the at least one steering-angle correction value.
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Accused Products
Abstract
In a method and device for controlling driving dynamics, at least one steering action at a vehicle axle being controlled, a driving-dynamics setpoint, which is described by at least a yaw-dynamics setpoint, being ascertained, a steering-angle precontrol value being determined on the basis of the driving-dynamics setpoint, using a model of the controlled system, the driving state, which is described by at least the yaw rate, being ascertained, at least one steering-angle correction value being ascertained, based on the deviation of the actual yaw rate from a setpoint yaw rate, and the steering action being defined by the steering-angle precontrol value and the at least one steering-angle correction value.
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Citations
19 Claims
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1. A method for controlling driving dynamics, comprising:
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controlling at least one steering action of a vehicle axle;
ascertaining a driving-dynamics setpoint described by at least a yaw-dynamics setpoint;
determining a steering-angle precontrol value in accordance with the driving-dynamics setpoint using a model of a controlled system;
ascertaining a driving state at least described by a yaw rate;
determining at least one steering-angle correction value in accordance with a deviation of the yaw rate from a setpoint yaw rate; and
defining the steering action in accordance with the steering-angle precontrol value and the at least one steering-angle correction value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A device for controlling the driving dynamics of a vehicle, comprising:
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control elements configured to perform a steering action at at least one axle;
a first processing unit configured to ascertain a driving-dynamics setpoint at least described by a yaw-dynamics setpoint;
a second processing unit configured to calculate a steering-angle precontrol value in accordance with the driving-dynamics setpoint and a model of a controlled system;
a driving-state monitor configured to ascertain a driving state at least described by a yaw rate;
a control unit configured to ascertain at least one steering-angle correction value adapted to control yaw dynamics in accordance with a deviation of the yaw rate from a setpoint yaw rate; and
a third processing unit configured to define the steering action in accordance with the steering-angle precontrol value and the at least one steering-angle correction value. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. A device for controlling driving dynamics of a vehicle, comprising:
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means for performing a steering action at at least one axle;
means for ascertaining a driving-dynamics setpoint at least described by a yaw-dynamics setpoint;
means for calculating a steering-angle precontrol value in accordance with the driving-dynamics setpoint and in accordance with a model of a controlled system;
means for ascertaining a driving state at least described by a yaw rate;
means for ascertaining at least one steering-angle correction value for controlling yaw dynamics in accordance with a deviation of the yaw rate from a setpoint yaw rate; and
means for defining the steering action in accordance with the steering-angle precontrol value and the at least one steering-angle correction value.
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Specification