METHOD AND DEVICE FOR DETECTING AND COMPENSATING FOR A TRANSVERSE INCLINATION OF A ROADWAY ON WHICH A VEHICLE IS TRAVELING

• US 20120016556A1
• Filed: 07/13/2011
• Published: 01/19/2012
• Est. Priority Date: 07/13/2010
• Status: Active Grant

• Current Assignee: MAN Truck & Bus AG (Volkswagen AG)
• Original Assignee: MAN Truck & Bus AG (Volkswagen AG)
• Inventors: SCHWERTBERGER, Walter, BRUMMER, Markus, HEYES, Daniel, RESCH, Christoph, ROSINGER, Walter
• Granted Patent: US 8,532,878 B2
• Time in Patent Office: Days
• US Class Current: 701/41
• CPC Class Codes: B60T 2210/22 Banked curves
• CPC Class Codes: B60T 8/17551 determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2050/0033 Single-track, 2D vehicle model, i.e. two-wheel bicycle model
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2530/10 Weight
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 40/06 Road conditions
• CPC Class Codes: B60W 40/109 Lateral acceleration

Abstract

A method and a device detect a transverse inclination of a roadway on which a vehicle is traveling. The transverse inclination is detected on the basis of a transverse acceleration of the vehicle that is generated by the transverse inclination of the roadway. A transverse acceleration of the vehicle is measured with a measuring device. A transverse acceleration that is generated by driving maneuvers of the vehicle is determined by a transverse inclination observer. The transverse acceleration of the vehicle due to the transverse inclination of the roadway is subsequently determined by determining a difference between the transverse acceleration generated by the driving maneuvers and the transverse acceleration measured by the measuring device. A method and a device are also provided for compensating for the transverse inclination of the roadway on which a vehicle is traveling. A steering angle which compensates for the transverse acceleration of the vehicle that is caused by the transverse inclination of the roadway, by way of a transverse inclination compensator. The steering angle is set by taking into consideration the transverse acceleration of the vehicle caused by the transverse inclination of the roadway.

Claims

1. A method for detecting a transverse inclination of a roadway on which a vehicle is traveling, the method which comprises:

measuring a transverse acceleration of the vehicle with a measuring device;

determining a transverse acceleration of the vehicle generated by driving maneuvers, with a transverse inclination observer;

forming a difference between the transverse acceleration of the vehicle generated by driving maneuvers and the transverse acceleration of the vehicle measured by the measuring device, and concluding therefrom a transverse acceleration of the vehicle caused by the transverse inclination of the roadway.

2. The method according to claim 1, wherein the step of determining the transverse acceleration of the vehicle generated by driving maneuvers comprises correlating the transverse acceleration of the vehicle generated by driving maneuvers, with a yaw rate and a velocity of the vehicle.

3. A method for compensating a transverse inclination of the roadway on which a vehicle is traveling, the method which comprises:

carrying out the method according to claim 1 to thereby determine a transverse acceleration caused by the transverse inclination of the roadway on which the vehicle is traveling; and

setting a steering angle δ

_comp,ay, which compensates for the transverse acceleration of the vehicle caused by the transverse inclination of the roadway, by way of a transverse inclination compensator.

4. The method according to claim 3, which comprises determining the steering angle of the vehicle, which compensates for the transverse inclination of the roadway, from a correlation of the compensating steering angle of the vehicle with a vehicle-dependent constant and the transverse acceleration of the vehicle caused by the transverse inclination of the roadway.

5. A device for detecting a transverse inclination of a roadway upon which a vehicle is traveling, the device comprising:

a measuring device configured for measuring a transverse acceleration of the vehicle; and

a transverse inclination observer connected to said measuring device;

wherein said transverse inclination observer is configured for determining a transverse acceleration of the vehicle generated by driving maneuvers thereof; and

wherein said transverse inclination observer is configured for determining a transverse acceleration of the vehicle caused by the transverse inclination of the roadway upon which the vehicle is traveling, by determining a difference between the transverse acceleration of the vehicle generated by driving maneuvers and the transverse acceleration of the vehicle measured by said measuring device.

6. The device according to claim 5, wherein said transverse inclination observer is configured for determining the transverse acceleration of the vehicle generated by driving maneuvers, from a correlation of the transverse acceleration of the vehicle generated by driving maneuvers, with a yaw rate and a velocity of the vehicle.

7. In a vehicle, a device for compensating for a transverse inclination of a roadway upon which the vehicle is traveling, the device comprising:

the device according to claim 5 for determining the transverse acceleration of the vehicle caused by the transverse inclination of the roadway upon which the vehicle is traveling; and

a transverse inclination compensator configured for setting a steering angle of the vehicle that compensates for a transverse acceleration of the vehicle caused by the transverse inclination of the roadway and determined by the device according to claim 5.

8. The device according to claim 7, wherein said transverse inclination compensator is configured for determining the steering angle of the vehicle that compensates for the transverse inclination of the roadway, from a correlation of a compensating steering angle of the vehicle with a vehicle-dependent constant and the transverse acceleration of the vehicle caused by the transverse inclination of the roadway.