Method for modifying a driving stability control of a vehicle
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Abstract
The present invention relates to a method for modifying a driving stability control of a vehicle wherein the input variables essentially composed of the predetermined steering angle (δ) and the driving speed (v) are converted into a nominal value of the yaw velocity ({dot over (Ψ)}nominal) on the basis of a vehicle model defined by running characteristics. The nominal value is compared with a measured actual value of the yaw velocity ({dot over (Ψ)}measured), and an additional yaw torque (MG) is calculated in an ESP controller according to the result of the comparison and used to define an ESP intervention which produces an additional yaw torque by way of pressure quantities applied to the wheel brakes of the vehicle.
43 Citations
21 Claims
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1-11. -11. (canceled)
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12. Method for modifying a driving stability control of a vehicle comprising the steps of:
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converting a steering angle (δ
) and a driving speed (v) into a nominal value of a yaw velocity ({dot over (Ψ
)}nominal) on the basis of a vehicle model defined by running characteristics,comparing the nominal yaw velocity with a measured actual value of the yaw velocity ({dot over (Ψ
)}measured), and calculating a yaw torque (MG) value, and according to the result of the comparison, defining an ESP intervention which produces an additional yaw torque by way of pressure quantities applied to the wheel brakes of the vehicle, said additional yaw torque adapting the measured yaw velocity ({dot over (Ψ
)}measured) to the calculated yaw velocity ({dot over (Ψ
)}nominal) using a model-based coefficient of friction whose output signals (μ
) are sent to the vehicle model and taken into consideration in the calculation of the nominal value of the yaw velocity ({dot over (Ψ
)}nominal),limiting the coefficient of friction to a value below a maximum allowable coefficient of friction (μ
max) in dependence on variables representative of at least a maximum lateral acceleration or variables derived therefrom. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21)
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Specification