System for driving stability control during travel through a curve

• US 5,710,704 A
• Filed: 06/07/1995
• Issued: 01/20/1998
• Est. Priority Date: 11/25/1994
• Status: Expired due to Term

• Current Assignee: ITT Automotive Europe GmbH
• Original Assignee: ITT Automotive Europe GmbH
• Inventors: Graber, Johannes
• Primary Examiner(s): ZANELLI, MICHAEL J
• Application Number:
  US08/479,630
• Time in Patent Office: 958 Days
• Field of Search: 364/426.01, 364/426.02, 364/426.03, 364/426.027, 364/426.016, 364/426.028, 303/139, 303/140, 303/146, 303/147, 303/148, 303/150, 303/155, 303/167, 303/186, 303/189, 180/197
• US Class Current: 701/82
• CPC Class Codes: B60G 2400/1042 using at least two sensors
• CPC Class Codes: B60T 2210/12 Friction
• CPC Class Codes: B60T 2230/02 Side slip angle, attitude angle, floating angle, drift angle
• CPC Class Codes: B60T 2230/08 Driving in reverse
• CPC Class Codes: B60T 2270/313 with less than three sensors (yaw rate, steering angle, lateral acceleration)
• CPC Class Codes: B60T 8/1755 Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 2422/95 Measuring the same parameter at multiple locations of the vehicle
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2520/20 Sideslip angle
• CPC Class Codes: B60W 2720/14 Yaw
• CPC Class Codes: B60W 2720/30 Wheel torque
• CPC Class Codes: B60W 30/02 Control of vehicle driving stability
• CPC Class Codes: B60W 40/064 Degree of grip

Abstract

A system for improving the driving stability of a vehicle during travel through a curve is provided. The system includes a sensor for measuring the actual yaw rate of the vehicle, and a facility for calculating a desired yaw rate. The difference between the desired yaw rate and the measured yaw rate is determined. A situation recognition facility determines whether the vehicle is travelling in a curve, and whether the vehicle is travelling in reverse. A logic initiates a corrective yawing moment if the difference exceeds a predetermined threshold value and the vehicle is not traveling in reverse.

Claims

1. A system for improving the driving stability of a vehicle during travel through a curve, comprising:

means for measuring a yaw rate of the vehicle;

means for calculating a desired yaw rate;

means for determining a difference between the desired yaw rate and the measured yaw rate;

situation recognition means for determining whether the vehicle is travelling in a curve, and whether the vehicle is travelling in reverse; and

logic means responsive to the difference determining means and the situation recognition means for initiating a corrective yawing moment if the difference exceeds a predetermined threshold value and the vehicle is not traveling in reverse.

2. A system according to claim 1, wherein the situation recognition means include means for indicating reverse travel when the measured yaw rate and the desired yaw rate have opposite signs from one another, and the time derivatives of the measured yaw rate and the desired yaw rate have opposite signs from one another.

3. A system according to claim 2, wherein once said situation recognition means has determined that the vehicle is travelling in reverse, said situation recognition means provides an indication of reverse travel until a velocity of the vehicle falls below a threshold value.

4. A system according to claim 1, further comprising:

means for measuring a lateral acceleration of the vehicle; and

means for measuring a steering angle of the vehicle,

wherein the situation recognition means include means for determining that the vehicle is travelling in a curve if the lateral acceleration exceeds a first threshold value and the steering angle exceeds a second threshold value.

5. In a device for controlling the yawing moment of a four-wheel motor vehicle during travel through a curve, with a vehicle reference model, which calculates the deviation of a measured yaw rate from a calculated desired yaw rate, and with an activation logic unit, which induces a yawing moment control in certain driving situations when this deviation exceeds a certain threshold, the improvement comprising:

a situation recognition means for determining and sending information to the activation logic unit at least on whether the vehicle is traveling through a curve and whether the vehicle is traveling in a reverse direction, and

the activation logic unit uses the information to determine whether to initiate yawing moment control, and the activation logic unit does not initiate any yawing moment control during reverse travel.

6. Device in accordance with claim 5, wherein reverse travel is recognized at least when the measured yaw rate and the desired yaw rate have opposite signs, even for time derivatives thereof.

7. Device in accordance with claim 6, wherein the situation recognition means maintains the assumption of reverse travel until the vehicle velocity becomes so low that a vehicle stop situation is assumed.

8. In a device for controlling the yawing moment of a four-wheel motor vehicle during travel through a curve, including a vehicle reference model which calculates the deviation of a measured yaw rate from a calculated desired yaw rate, and an activation logic unit which induces a yawing moment control in certain driving situations when this deviation exceeds a certain threshold, the improvement comprising:

situation recognition means for sending information to the activation logic unit at least on whether the vehicle is traveling through a curve,

said situation recognition means including means for determining travel through a curve based on a measured lateral acceleration only when a steering angle value exceeding a preset minimum threshold is measured.