Control of vehicle side slip using yaw rate
First Claim
Patent Images
1. Method for controlling stability of a vehicle exhibiting a steering angle δ
- , a yaw rate ω
, a vehicle velocity vF, a throttle butterfly position, and a master cylinder pressure Pvor, said method comprisingdetermining the steering angle δ
, the yaw rate ω
, and the vehicle velocity vF,determining a steady-state required yaw rate ω
so110 according to ##EQU7## where k is a constant, L is the wheel base, and vch is a vehicle characteristic velocity,determining at least one of throttle butterfly position α
DK and master cylinder pressure Pvor,determining a desired longitudinal force FL,W as a function of at least one of α
DK and Pvor,determining a desired side force according to FS,W =mvF ω
so110 where m is the vehicle mass,determining the total force desired by the driver according to
space="preserve" listing-type="equation">F.sub.ges,W =√
F.sub.S,W.sup.2 +F.sub.L,W.sup.2,determining the total available force Fges between tires and road,determining a factor x=Fges /Fges,W, where x≦
1,determining a required yaw rate ω
so11 according to ω
so11 =xω
so110, andvarying brake pressure at the wheels so that ω
=ω
so11.
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Abstract
A required yaw rate value is determined based on driver inputs such as steering angle, master cylinder pressure, and throttle butterfly angle. The required yaw rate is compared to a measured actual yaw rate value and the actual yaw moment acceleration is influenced based on the comparison.
50 Citations
9 Claims
-
1. Method for controlling stability of a vehicle exhibiting a steering angle δ
- , a yaw rate ω
, a vehicle velocity vF, a throttle butterfly position, and a master cylinder pressure Pvor, said method comprisingdetermining the steering angle δ
, the yaw rate ω
, and the vehicle velocity vF,determining a steady-state required yaw rate ω
so110 according to ##EQU7## where k is a constant, L is the wheel base, and vch is a vehicle characteristic velocity,determining at least one of throttle butterfly position α
DK and master cylinder pressure Pvor,determining a desired longitudinal force FL,W as a function of at least one of α
DK and Pvor,determining a desired side force according to FS,W =mvF ω
so110 where m is the vehicle mass,determining the total force desired by the driver according to
space="preserve" listing-type="equation">F.sub.ges,W =√
F.sub.S,W.sup.2 +F.sub.L,W.sup.2,determining the total available force Fges between tires and road, determining a factor x=Fges /Fges,W, where x≦
1,determining a required yaw rate ω
so11 according to ω
so11 =xω
so110, andvarying brake pressure at the wheels so that ω
=ω
so11. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
- , a yaw rate ω
Specification