Process for controlling the driving stability with the king pin inclination difference as the controlled variable
First Claim
1. A method for controlling driving stability of a vehicle having front and rear axles, each of the axles having wheels, comprising the steps of:
- (a) forming a variable which characterizes the driving stability of the vehicle, the variable being a difference between a front kingpin inclination value and a rear kingpin inclination value for the wheels of the front and rear axles, respectively;
(b) performing a comparison between the variable and a predetermined desired value; and
(c) controlling the vehicle based on the comparison, so that the variable approaches a desired value.
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Abstract
A process for controlling the driving stability of a vehicle is provided. To avoid complicated models for determining the desired value of a variable characteristic of the travel behavior, which variable usually must be calculated by an expensive calculation circuit, a controlled variable is selected, which directly describes the driving stability and is compared with an actual value, which can be calculated in a relatively simple manner. An advantageous embodiment describes comparing an actual value of the variable, which can be determined in a simple manner, with a desired value. The range of tolerance of the variable is set directly by the driving stability limits. Advantageous variants pertain to the suitable scheme of calculation and the selection of a suitable range of tolerance.
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Citations
16 Claims
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1. A method for controlling driving stability of a vehicle having front and rear axles, each of the axles having wheels, comprising the steps of:
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(a) forming a variable which characterizes the driving stability of the vehicle, the variable being a difference between a front kingpin inclination value and a rear kingpin inclination value for the wheels of the front and rear axles, respectively; (b) performing a comparison between the variable and a predetermined desired value; and (c) controlling the vehicle based on the comparison, so that the variable approaches a desired value. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for controlling driving stability of a vehicle having a steering angle, a velocity, and front and rear axles, each of the axles having wheels, comprising the steps of:
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(a) determining; (1) a maximum allowable positive difference between a front kingpin inclination value for the wheels of the front axle and a rear kingpin inclination value for the wheels of the rear axle, and (2) a maximum allowable negative difference between the front kingpin inclination value and the rear kingpin inclination value; (b) determining first and second yaw rate values which correspond to the maximum allowable positive and negative differences, respectively; (c) calculating a yaw rate based on the steering angle and the velocity; (d) performing comparisons, individually, between the calculated yaw rate and each of the first and second yaw rate values; and (e) controlling the vehicle based on the comparisons, so that the yaw rate is maintained between the first and second yaw rate values. - View Dependent Claims (9, 10)
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11. Process for controlling a vehicle to improve travel behavior, comprising:
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determining a characteristic variable characterizing the current actual travel condition of the vehicle, the characteristic variable being a difference between the king pin inclination on the front wheels and the kingpin inclination on the rear wheels, the characteristic variable being compared with an adequate desired value, generating control signals as a function of the result of the comparison, and correcting the control of the vehicle behavior on the basis of said control signals. - View Dependent Claims (12, 13, 14, 15, 16)
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Specification