Method for the detection of curves and the determination of the transverse acceleration in a vehicle
First Claim
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1. Method for controlling one of brake slippage and drive slippage in a vehicle having two non-driven wheels when said vehicle is driven in a curve, said method comprisingmeasuring the speeds of said non-driven wheels to produce wheel speed signals VL and VR ;
- determining the difference Δ
V=VL -VR, said difference having a slope;
filtering said difference to produce a filtered difference Δ
VF =Δ
V when said slope is less than a predetermined value ±
a, said filtered difference Δ
VF having a slope ±
a when the slope of Δ
V is greater than ±
a;
forming a mean value VM =1/2(VL +VR);
forming correction signals Ki according to the equations K1 =Δ
VF /VM when VM exceeds a predetermined speed and K2 =(Δ
VF -Δ
VG)/VM when VM is less than or equal to said predetermined speed, Δ
VG being a stored value dependent upon vehicle speed,forming a mean value Ki from successively determined correction signals Ki ;
forming a corrected speed difference Δ
VK =Δ
VF -Ki VM, wherein Ki =K1 when K1 was formed at least once during a ride,generating a signal indicative of a curve when Δ
VK exceeds a curve determination speed value, andcontrolling one of brake slippage and drive slippage in said vehicle by using said signal indicative of a curve as a control parameter in a respective one of an antilock brake system and an antislip drive system of the vehicle.
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Abstract
A method for detecting when a vehicle drives in a curve for which the wheel speed sensors of the non-driven wheels are sufficient and supplies a correct statement even in case of interferences or different circumferential distances. Also, an output signal can be recovered which corresponds to the values of the available transverse acceleration.
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Citations
13 Claims
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1. Method for controlling one of brake slippage and drive slippage in a vehicle having two non-driven wheels when said vehicle is driven in a curve, said method comprising
measuring the speeds of said non-driven wheels to produce wheel speed signals VL and VR ; -
determining the difference Δ
V=VL -VR, said difference having a slope;filtering said difference to produce a filtered difference Δ
VF =Δ
V when said slope is less than a predetermined value ±
a, said filtered difference Δ
VF having a slope ±
a when the slope of Δ
V is greater than ±
a;forming a mean value VM =1/2(VL +VR); forming correction signals Ki according to the equations K1 =Δ
VF /VM when VM exceeds a predetermined speed and K2 =(Δ
VF -Δ
VG)/VM when VM is less than or equal to said predetermined speed, Δ
VG being a stored value dependent upon vehicle speed,forming a mean value Ki from successively determined correction signals Ki ; forming a corrected speed difference Δ
VK =Δ
VF -Ki VM, wherein Ki =K1 when K1 was formed at least once during a ride,generating a signal indicative of a curve when Δ
VK exceeds a curve determination speed value, andcontrolling one of brake slippage and drive slippage in said vehicle by using said signal indicative of a curve as a control parameter in a respective one of an antilock brake system and an antislip drive system of the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. Method for controlling at least one of brake slippage and drive slippage in a vehicle having two non-driven wheels when said vehicle is driven in a curve, said method comprising
measuring the speeds of said non-driven wheels to produce wheel speed signals VL and VR ; -
determining the difference Δ
V=VL -VR, said difference having a slope;filtering said difference to produce a filtered difference Δ
VF =Δ
V when said slope is less than a predetermined value said filtered difference Δ
VF having a slope ±
a;forming a mean value VM =1/2(VL +VR); forming correction signals Ki according to the equations K1 =Δ
VF /VM exceeds a predetermined speed and K2 =(Δ
VF -Δ
VG)/VM when VM is less than or equal to said predetermined speed, Δ
VG being a stored value dependent upon vehicle speed,forming a mean value Ki from successively determined correction signals Ki ; forming a corrected speed difference Δ
VK =Δ
VF -Ki VM, wherein Ki =K1 when K1 was formed at least once during a ride,determining a transverse vehicle acceleration aq by inputting said corrected speed value Δ
VK and said mean value VM into a unit which stores plots of Δ
VK versus VM for various transverse vehicle accelerations, andcontrolling one of brake slippage and drive slippage in said vehicle by using said transverse acceleration as a control parameter in a respective one of an antilock brake system and an antislip drive system of the vehicle. - View Dependent Claims (10, 11, 12, 13)
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Specification