Motor vehicle steering system having a yaw rate controller
First Claim
1. A motor vehicle steering system having a yaw rate controller which continuously detects a yaw rate representing the vehicle yawing motion and forms a control signal as a function thereof, and which causes a steering movement which counteracts the undesired yawing motion, wherein the control signal is formed differently in an unbraked driving condition than when the vehicle is braked.
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Accused Products
Abstract
A motor vehicle steering system includes a yaw rate controller that continuously detects a yaw rate representing the vehicle yawing motion, forms a control signal as a function thereof, and causes a steering movement that counteracts the undesired yawing motion. The control signal is formed differently in the unbraked driving condition than when the vehicle is braked. In addition, the control signal in the case of a control intervention of a brake control system may be formed differently than when the vehicle is braked without such a control intervention. Preferably, the control signal which is determined from the deviation between a desired yaw rate value and the actual yaw rate value, in the case of a controlled braking operation, is formed by means of at least one other amplification factor (kp) that differs from that which is used in the unbraked driving condition. In the deviation branch, in addition to the proportional fraction, an integral fraction may be provided whose amplification factor (kI) in the case of a braking operation has a different value than in the unbraked driving condition.
21 Citations
14 Claims
- 1. A motor vehicle steering system having a yaw rate controller which continuously detects a yaw rate representing the vehicle yawing motion and forms a control signal as a function thereof, and which causes a steering movement which counteracts the undesired yawing motion, wherein the control signal is formed differently in an unbraked driving condition than when the vehicle is braked.
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7. A yaw rate control device, for controlling yawing movement of a vehicle, said yaw rate control device comprising:
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means for providing a signal indicative of a desired yaw rate for said vehicle;
means for generating a signal indicative of an actual yaw rate for said vehicle;
comparison means for generating a deviation signal equal to the difference between said desired yaw rate signal and said actual yaw rate signal;
means for calculating a control signal for controlling vehicle steering as a function of said deviation signal, using at least one amplification factor; and
means for determining whether a vehicle operator is currently activating a vehicle braking operation;
wherein the at least one amplification factor has a value that varies as a function or whether or not a vehicle braking operation is currently activated. - View Dependent Claims (8, 9, 10)
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11. A method for controlling yawing movement of a vehicle, comprising:
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providing a signal indicative of a desired yaw rate for said vehicle;
generating a signal indicative of an actual yaw rate for said vehicle;
calculating a control signal as a function of a difference between said signals that are indicative of the desired yaw rate and the actual rate, using at least one amplification factor;
adjusting vehicle steering as a function of said control signal;
determining whether a vehicle operator is currently activating a vehicle braking operation; and
varying a value of said amplification factor as a function of whether or not a vehicle braking operation is currently activated. - View Dependent Claims (12, 13, 14)
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Specification