Method for determining an additional yawing moment based on side slip angle velocity
First Claim
1. A method for improving the driving behavior of an automotive vehicle, the vehicle having a plurality of wheels, each wheel having a brake, said vehicle having a plurality of sensors for generating signals representing a vehicle velocity, a vehicle steering angle and a measured yaw rate of the vehicle, comprising the steps of:
- determining a desired yaw rate based on the vehicle velocity and the vehicle steering angle;
generating a yawing moment adjustment value based on the desired yaw rate and the measured yaw rate;
determining a velocity of the side slip angle kinematically, based on the vehicle velocity and the measured yaw rate;
calculating an observer model velocity of the side slip angle based on the steering angle of the vehicle; and
correcting the yawing moment adjustment based on the kinematically determined velocity value of the side slip angle and the observer model velocity of the side slip angle, said yawing moment adjustment value being applied to control the yaw rate of the vehicle.
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Abstract
A method for improving the driving behavior of an automotive vehicle is provided. The vehicle has a plurality of wheels, each wheel having a brake. The vehicle includes a plurality of sensors for generating signals representing the vehicle velocity, the vehicle steering angle and the measured yaw rate of the vehicle. A desired yaw rate is determined based on the vehicle velocity and the vehicle steering angle. A yaw rate adjustment value is calculated based on the desired yaw rate and the measured yaw rate. A velocity of the side slip angle is determined based on the vehicle velocity and the measured yaw rate. A value representing a yawing moment adjustment is determined based on the vehicle velocity value of the side slip angle. The yawing moment adjustment value is applied to control the yaw rate of the vehicle.
230 Citations
17 Claims
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1. A method for improving the driving behavior of an automotive vehicle, the vehicle having a plurality of wheels, each wheel having a brake, said vehicle having a plurality of sensors for generating signals representing a vehicle velocity, a vehicle steering angle and a measured yaw rate of the vehicle, comprising the steps of:
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determining a desired yaw rate based on the vehicle velocity and the vehicle steering angle; generating a yawing moment adjustment value based on the desired yaw rate and the measured yaw rate; determining a velocity of the side slip angle kinematically, based on the vehicle velocity and the measured yaw rate; calculating an observer model velocity of the side slip angle based on the steering angle of the vehicle; and correcting the yawing moment adjustment based on the kinematically determined velocity value of the side slip angle and the observer model velocity of the side slip angle, said yawing moment adjustment value being applied to control the yaw rate of the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. Method for controlling the brake forces on braking means of a motor vehicle, which can be actuated individually, wherein a desired yaw rate is determined as a function of the velocity of the vehicle and the steering angle set by the driver, and this desired yaw rate is compared with the actual yaw rate, wherein an additional yawing moment, which is realized by an individual actuation of the braking means, is calculated on the basis of the deviation between these two values, comprising the steps of:
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measuring a plurality of variables including a vehicle velocity, a vehicle yaw rate, and a vehicle steering angle; deriving a kinematically determined velocity of the side slip angle of the vehicle from the vehicle velocity and yaw rate, calculating an observer model velocity of the side slip angle based on the steering angle of the vehicle; and using the kinematically determined velocity of the side slip angle and the observer model velocity of the side slip angle to determine a corrected additional yawing moment. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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Specification