Method for determining variables characterizing vehicle handling
First Claim
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1. A method for determining variables which represent handling characteristics of a vehicle having wheels, said method comprising the steps of:
- feeding signals from the vehicle to a computing device, said signals representing measured values of a vehicle longitudinal velocity (vx), a vehicle longitudinal acceleration (ax), a vehicle lateral acceleration (ay), and a vehicle yaw velocity (Ψ
);
using state equations of motion in the computing device to determine said variables characterizing vehicle handling;
determining a side slip angle (β
) in the computing device as one of said variables characterizing vehicle handling;
feeding at least further signals from the vehicle representing the measured variables of a steering angle (δ
), and a wheel speed (ω
) of individual ones of said wheels to the computing device;
using in the computing device at least one measurement equation based on a vehicle model;
using at least an inclination angle (Φ
) of a roadway with respect to a plane as a state variable in said measurement equation; and
outputting signals from the computing device for said variables characterizing vehicle handling, including said side slip angle for the vehicle.
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Abstract
A method for determining variables characterizing vehicle handling is provided, in particular the attitude angle. Signals of measured variables are fed to a computing device. At least the attitude angle is determined in the computing device using equations of motion and using a two-track model of the vehicle.
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Citations
10 Claims
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1. A method for determining variables which represent handling characteristics of a vehicle having wheels, said method comprising the steps of:
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feeding signals from the vehicle to a computing device, said signals representing measured values of a vehicle longitudinal velocity (vx), a vehicle longitudinal acceleration (ax), a vehicle lateral acceleration (ay), and a vehicle yaw velocity (Ψ
);using state equations of motion in the computing device to determine said variables characterizing vehicle handling; determining a side slip angle (β
) in the computing device as one of said variables characterizing vehicle handling;feeding at least further signals from the vehicle representing the measured variables of a steering angle (δ
), and a wheel speed (ω
) of individual ones of said wheels to the computing device;using in the computing device at least one measurement equation based on a vehicle model; using at least an inclination angle (Φ
) of a roadway with respect to a plane as a state variable in said measurement equation; andoutputting signals from the computing device for said variables characterizing vehicle handling, including said side slip angle for the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A system to determine variables representing handling characteristics of a vehicle having wheels, the system comprising:
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a vehicle longitudinal velocity sensor providing a vehicle longitudinal velocity output signal (vx); a vehicle longitudinal acceleration sensor providing a vehicle longitudinal acceleration output signal (ax); a vehicle lateral acceleration sensor providing a vehicle lateral acceleration output signal (ay); a vehicle yaw velocity sensor providing a vehicle yaw velocity output signal (Ψ
);a steering angle sensor providing a steering angle output signal (δ
);wheel speed sensors providing wheel speed output signals (ω
) for individual ones of said wheels of the vehicle;a computing device which receives as inputs said vehicle longitudinal velocity signal (vx), said vehicle longitudinal acceleration signal (ax), said vehicle lateral acceleration signal (ay), said vehicle yaw velocity signal (Ψ
), said steering angle signal (δ
), and said wheel speed signals (ω
), said computing device being programmed to perform the following steps;determining said variables representing handling characteristics of the vehicle, including a side slip angle (β
) as one of said variables, using state equations of motion and at least one measurement equation based on a vehicle model, wherein an inclination angle (Φ
) of a roadway with respect to a plane is used as a state variable in the measurement equation; andwherein said computing device outputs the side slip angle (β
).
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Specification