Method for detecting driving situation with respect to vehicle yaw behavior
First Claim
1. A method for detecting an undesired yaw behavior of a vehicle, which behavior produces instability, comprising the steps of forming a desired value of the vehicle yaw angle rate μ
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des in a computer unit from values measured by sensors on the vehicle, supplying to the computer unit at least one sensor signal to form an actual value of the vehicle yaw angle rate μ
act, determining in the computer unit any difference between the desired value of the yaw angle rate μ
des and the actual value of the yaw angle rate μ
act, by subtracting the actual value of the yaw angle rate μ
act from the desired value of the yaw angle rate μ
des, forming a time derivative of the difference in the computer unit, and generating at least one output signal in the computer unit, said at least one output signal representing the detected undesired yaw behavior of the vehicle and is used to permit intervention in a control system of the vehicle to one of increase understeering handling and to reduce oversteering handling, wherein a first part of said at least one output signal is generated in the computer unit as a function of the difference, said first part being representative of understeering or oversteering handling of the vehicle, and a second part of the output signal is generated in the computer unit as a function of the time derivative of the difference, said second part being representative of an instability increase or decrease in the handling of the vehicle.
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Accused Products
Abstract
A method detects the driving situation with respect to the yaw behavior of the vehicle, in which a desired value of the vehicle yaw angle rate μdes is derived in a computer unit from measured values (such as vehicle speed, steering wheel angle), and at least one sensor signal is supplied to the computer unit from which the actual value of the vehicle yaw angle rate μact is derived. The difference between the desired value of the yaw angle rate μdes and the actual value of the yaw angle rate μact is formed in the computer unit. The actual value of the yaw angle rate μact is subtracted from the desired value of the yaw angle rate μdes, and at least one output signal is generated in 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. The magnitude of the time derivative of the difference is used to derive whether there is a tendency towards an increasingly critical driving situation.
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Citations
12 Claims
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1. A method for detecting an undesired yaw behavior of a vehicle, which behavior produces instability, comprising the steps of forming a desired value of the vehicle yaw angle rate μ
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des in a computer unit from values measured by sensors on the vehicle, supplying to the computer unit at least one sensor signal to form an actual value of the vehicle yaw angle rate μ
act, determining in the computer unit any difference between the desired value of the yaw angle rate μ
des and the actual value of the yaw angle rate μ
act, by subtracting the actual value of the yaw angle rate μ
act from the desired value of the yaw angle rate μ
des, forming a time derivative of the difference in the computer unit, and generating at least one output signal in the computer unit, said at least one output signal representing the detected undesired yaw behavior of the vehicle and is used to permit intervention in a control system of the vehicle to one of increase understeering handling and to reduce oversteering handling, wherein a first part of said at least one output signal is generated in the computer unit as a function of the difference, said first part being representative of understeering or oversteering handling of the vehicle, and a second part of the output signal is generated in the computer unit as a function of the time derivative of the difference, said second part being representative of an instability increase or decrease in the handling of the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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des in a computer unit from values measured by sensors on the vehicle, supplying to the computer unit at least one sensor signal to form an actual value of the vehicle yaw angle rate μ
Specification