Control device for stabilizing the rolling motion of a vehicle
First Claim
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1. A control device for stabilizing the rolling motion of a vehicle comprising:
- control elements arranged between at least one of wheel carriers and wheel suspension members of the vehicle and a body of the vehicle; and
controller means for operating the control elements as a function of at least one cross-dynamic motional quantity to generate a stabilizer torque MV at a front axle of the vehicle and a stabilizer torque MH at a rear axle of the vehicle;
the controller means including means for generating the stabilizer torques MV and MH as a function of measured or determined quantities of a yaw velocity ψ
(t), or an inertial roll angle γ
(t) and of a roll angle rate γ
(t) according to the following principles;
space="preserve" listing-type="equation">M.sub.V (t)=k.sub.11 (V(t),i.sub.M)·
ψ
(t)+k.sub.12 ·
γ
(t)+k.sub.13 γ
(t) (I)
space="preserve" listing-type="equation">M.sub.H (t)=k.sub.21 (V(t),i.sub.M)·
ψ
(t)+k.sub.22 ·
γ
(t)+k.sub.23 ·
γ
(t) (II) wherein k11 and k21 are coefficients depending on the driving speed V (t) and on the stabilizer torque distribution ##EQU5## during steady-state cornering, and K12, k22, k13, and k23 are vehicle-specific constant coefficients which are larger than zero.
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Abstract
A control device is disclosed for stabilizing the rolling motion of a vehicle, having control elements which are arranged between the wheel carriers or wheel suspension members and the vehicle body. The control elements generate a stabilizer torque as a function of at least one cross-dynamic motional quantity at the front axle and rear axles, the stabilizer torques at the front axle and at the rear axle are being generated as a function of the measured and determined quantities of the yaw velocity, of the roll angle and of the roll angle rate.
23 Citations
14 Claims
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1. A control device for stabilizing the rolling motion of a vehicle comprising:
-
control elements arranged between at least one of wheel carriers and wheel suspension members of the vehicle and a body of the vehicle; and controller means for operating the control elements as a function of at least one cross-dynamic motional quantity to generate a stabilizer torque MV at a front axle of the vehicle and a stabilizer torque MH at a rear axle of the vehicle; the controller means including means for generating the stabilizer torques MV and MH as a function of measured or determined quantities of a yaw velocity ψ
(t), or an inertial roll angle γ
(t) and of a roll angle rate γ
(t) according to the following principles;
space="preserve" listing-type="equation">M.sub.V (t)=k.sub.11 (V(t),i.sub.M)·
ψ
(t)+k.sub.12 ·
γ
(t)+k.sub.13 γ
(t) (I)
space="preserve" listing-type="equation">M.sub.H (t)=k.sub.21 (V(t),i.sub.M)·
ψ
(t)+k.sub.22 ·
γ
(t)+k.sub.23 ·
γ
(t) (II)wherein k11 and k21 are coefficients depending on the driving speed V (t) and on the stabilizer torque distribution ##EQU5## during steady-state cornering, and K12, k22, k13, and k23 are vehicle-specific constant coefficients which are larger than zero. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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-
12. A control device for stabilizing the rolling motion of a vehicle comprising:
-
control elements arranged between at least one of wheel carriers and wheel suspension members of the vehicle and a body of the vehicle; and controller means for operating the control elements, as a function of at least one cross-dynamic motional quantity, to generate a stabilizer torque MV at a front axle of the vehicle and a stabilizer torque MH at a rear axle of the vehicle; the controller means including means for generating the stabilizer torques MV and MH as a function of measured or determined quantities of a yaw velocity ψ
(t), of a body roll angle γ
(t) and of a body roll angle rate γ
A (t) according to the following principles;
space="preserve" listing-type="equation">M.sub.V (t)=k.sub.11 (V(t),i.sub.M)·
ψ
(t)+k.sub.12 ·
γ
.sub.A (t)+k.sub.13 ·
γ
(t) (I)
space="preserve" listing-type="equation">M.sub.H (t)=k.sub.21 (V(t), i.sub.M)·
ψ
(t)+k.sub.22 ·
γ
.sub.A (t)+k .sub.23 ·
γ
.sub.A (t)(II)wherein k11 and k21 are coefficients depending on the driving speed V (t) and on the stabilizer torque distribution ##EQU7## during steady-state cornering, and k12, k22, k13, and k23 are vehicle-specific constant coefficients which are larger than zero. - View Dependent Claims (13, 14)
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Specification
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Current AssigneeBMW AG (Bayerische Motoren Werke AG)
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Original AssigneeBayerische Motoren Werke AG
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InventorsDieter, Konik
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Primary Examiner(s)Black, Thomas G.
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Application NumberUS07/371,754Time in Patent Office798 DaysField of Search364/424.01, 364/424.05, 280/707US Class Current701/38CPC Class CodesB60G 17/0162 mainly during a motion invo...B60G 2400/104 lateral or transversal with...B60G 2400/106 longitudinal with regard to...B60G 2400/20 SpeedB60G 2400/204 Vehicle speedB60G 2400/41 Steering angleB60G 2500/30 Height or ground clearanceB60G 2600/14 Differentiating means, i.e....B60G 2800/24 Steering, cornering
