DYNAMIC STABILITY CONTROL USING GNSS AND INS
First Claim
1. A method for controlling the driving dynamics of a single-track or dual-track land vehicle, whereinthe driving dynamics of the vehicle are controlled by way of brake and/or engine intervention, notably depending on the movement of the vehicle in the three-dimensional space and relative to an earth coordinate system and depending on the effective direction of gravity or the earth'"'"'s gravitational pull,the attitude or orientation and the position of the vehicle in three-dimensional space and relative to the earth coordinate system are determined by means of a satellite navigation system (GNSS) which comprises a receiver, mounted on or in the vehicle and having at least three antennas for reception of satellite navigation signals, and by means of an inertial measuring system (INS), mounted on or in the vehicle, for measuring all changes in the movement, position and/or attitude of the vehicle, and,from the values of the position and attitude of the vehicle and from the coordinates of the center of gravity of the earth or the center of the earth or of the origin of the earth coordinate system, there is computed, in real time, the direction of the gravity acting on the vehicle, or the direction of the vector from the center of gravity of the vehicle to the center of gravity or the center of the earth in ground-based and/or vehicle-based coordinates.
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Abstract
The invention relates to a method for controlling the driving dynamics of a vehicle, especially of a single-track or dual-track and vehicle. The driving dynamics of the vehicle are controlled by way of brake and/or engine intervention, notably depending on a change of the movement of the vehicle in the three-dimensional space and relative to the earth coordinate system and depending on the effective direction of gravity or the earth'"'"'s gravitational pull. According to said method, the attitude or orientation and the position of the vehicle in three-dimensional space and relative to the earth coordinate system is determined by means of a satellite navigation system (GNSS) which comprises a receiver, mounted on/in the vehicle, having at least three antennas for reception of satellite navigation signals and an inertial measuring system (INS), mounted on/in the vehicle, for measuring all changes in the movement, position and/or attitude of the vehicle.
24 Citations
13 Claims
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1. A method for controlling the driving dynamics of a single-track or dual-track land vehicle, wherein
the driving dynamics of the vehicle are controlled by way of brake and/or engine intervention, notably depending on the movement of the vehicle in the three-dimensional space and relative to an earth coordinate system and depending on the effective direction of gravity or the earth'"'"'s gravitational pull, the attitude or orientation and the position of the vehicle in three-dimensional space and relative to the earth coordinate system are determined by means of a satellite navigation system (GNSS) which comprises a receiver, mounted on or in the vehicle and having at least three antennas for reception of satellite navigation signals, and by means of an inertial measuring system (INS), mounted on or in the vehicle, for measuring all changes in the movement, position and/or attitude of the vehicle, and, from the values of the position and attitude of the vehicle and from the coordinates of the center of gravity of the earth or the center of the earth or of the origin of the earth coordinate system, there is computed, in real time, the direction of the gravity acting on the vehicle, or the direction of the vector from the center of gravity of the vehicle to the center of gravity or the center of the earth in ground-based and/or vehicle-based coordinates.
Specification