Apparatus and method for preventing instabilities in vehicle handling
First Claim
1. A method for preventing instabilities in handling of a vehicle, comprising the steps of(a) forming a desired value of vehicle yaw angle rate μ
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des in a computer unit from measured values,(b) supplying to the computer unit at least one sensor signal to form an actual value of the vehicle yaw angle rate μ
act,(c) determining the difference between the desired value of the yaw angle rate μ
des and the actual value of the yaw angle rate μ
act in the computer unit,(d) forming a time derivative of said difference in the computer unit,(e) generating at least one output signal in the computer unit from said difference and as a function of said time derivative, said output signal being representative of a detected driving situation with respect to yaw behavior of the vehicle as to whether the vehicle has oversteering handling or understeering handling, and(f) varying brake slip of individual wheels of the vehicle as a function of this output signal, such that, in the case of oversteering handling, the brake slip is increased for a front wheel of the vehicle on an outside of a turn, and, in the case of understeering handling, the brake slip is increased for a rear wheel of the vehicle on an inside of a turn.
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Accused Products
Abstract
A method and apparatus prevents instabilities in vehicle handling by forming a desired value of the vehicle yaw angle rate μdes from measured values (namely, vehicle speed, steering wheel angle), and forming the actual value of the vehicle yaw angle rate μact from at least one sensor signal. The difference between the desired value of the yaw angle rate μdes and the actual value of the yaw angle rate μact is formed by subtracting the actual value of the yaw angle rate μact from the desired value of the yaw angle rate μdes. At least one output signal is generated and emitted by the computer unit, from this difference. The output signal represents the detected driving situation with respect to the yaw behavior of the vehicle, with the brake pressure of individual wheels of the vehicle being varied as a function of this output signal, and the output signal being generated in the computer unit as a function of a time derivative of the difference. The output signal contains information on whether the vehicle has understeering or oversteering handling. In the case of oversteering handling, the brake pressure is increased for the vehicle front wheel on the outside of the turn; in the case of understeering handling, the brake pressure is increased for the vehicle rear wheel on the inside of the turn.
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Citations
19 Claims
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1. A method for preventing instabilities in handling of a vehicle, comprising the steps of
(a) forming a desired value of vehicle yaw angle rate μ -
des in a computer unit from measured values,
(b) supplying to the computer unit at least one sensor signal to form an actual value of the vehicle yaw angle rate μ
act,(c) determining the difference between the desired value of the yaw angle rate μ
des and the actual value of the yaw angle rate μ
act in the computer unit,(d) forming a time derivative of said difference in the computer unit, (e) generating at least one output signal in the computer unit from said difference and as a function of said time derivative, said output signal being representative of a detected driving situation with respect to yaw behavior of the vehicle as to whether the vehicle has oversteering handling or understeering handling, and (f) varying brake slip of individual wheels of the vehicle as a function of this output signal, such that, in the case of oversteering handling, the brake slip is increased for a front wheel of the vehicle on an outside of a turn, and, in the case of understeering handling, the brake slip is increased for a rear wheel of the vehicle on an inside of a turn. - View Dependent Claims (2, 4, 5, 7, 8, 11, 12, 13, 14, 15)
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des in a computer unit from measured values,
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3. A method for preventing instabilities in handling of a vehicle, comprising the steps of
(a) forming a desired value of the vehicle yaw angle rate μ -
des in a computer unit from measured values,
(b) supplying at least one sensor signal to the computer unit to form an actual value of the vehicle yaw angle rate μ
act,(c) determining the difference between the desired value of the yaw angle rate μ
des and the actual value of the yaw angle rate μ
act in the computer unit,(d) forming a time derivative of said difference in the computer unit, (e) generating at least one output signal in the computer unit from said difference and as a function of said time derivative, said at least one output signal being representative of a detected driving situation with respect to yaw behavior of the vehicle as to whether the vehicle has oversteering handling or understeering handling, and (f) varying brake slip of individual wheels of the vehicle as a function of said output signal, such that during a braking process in a situation involving oversteering, the brake slip is decreased for a rear wheel of the vehicle on an inside of a turn, and in a situation involving understeering, the brake slip is decreased for a front wheel of the vehicle on an outside of a turn. - View Dependent Claims (6, 9, 10, 16, 17)
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des in a computer unit from measured values,
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18. An apparatus for preventing instabilities in the handling of a vehicle, comprising a computer unit is configured such that a desired value of the vehicle yaw angle rate μ
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des is formed from measured values, means for supplying at least one sensor signal to the computer unit from which the actual value of the vehicle yaw angle rate μ
act is formed, wherein the computer unit forms the difference between the desired value of the yaw angle rate μ
des and the actual value of the yaw angle rate μ
act, forms a time derivative of said difference and generates at least one output signal from said difference and as a function of said time derivative, said output signal containing information on whether the vehicle has oversteering or understeering handling, and means for varying brake slip of individual wheels of the vehicle as a function of said output signal, wherein in a case of oversteering handling, the brake slip is increased for a front wheel of the vehicle on an outside of a turn, and in a case of understeering handling, the brake slip is increased for a rear wheel of the vehicle on an inside of a turn. - View Dependent Claims (19)
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des is formed from measured values, means for supplying at least one sensor signal to the computer unit from which the actual value of the vehicle yaw angle rate μ
Specification