System for controlling yaw moment based on an estimated coefficient of friction
First Claim
1. Yaw moment control apparatus for improving the driving behavior of an automotive vehicle tending to oversteering or understeering, the vehicle including means for determining a vehicle velocity, a vehicle steering angle, a measured yaw rate, and a vehicle lateral acceleration, said apparatus comprising:
- yaw control means for generating a value representing a desired yaw rate adjustment based on the vehicle steering angle, the vehicle velocity and the measured yaw rate;
means for calculating an estimated coefficient of friction based on the vehicle velocity, the lateral acceleration, the measured yaw rate and the steering angle, said estimated coefficient of friction being used by the yaw control means for determining the desired yaw rate adjustment; and
means, responsible to the vehicle steering angle, for enabling said estimated coefficient of friction determining means only while the vehicle is traveling through a curve.
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Accused Products
Abstract
Yaw moment control apparatus is provided for improving the driving behavior of an automotive vehicle tending to oversteering or understeering. The vehicle'"'"'s velocity, steering angle, measured yaw rate, and lateral acceleration are determined. A yaw controller generates a value representing a desired yaw rate adjustment based on the steering angle, the velocity and the measured yaw rate. An estimated coefficient of friction is calculated based on the vehicle velocity, the lateral acceleration, the measured yaw rate and the steering angle. The estimated coefficent of friction is used by the yaw controller to determined the desired yaw rate adjustment. The mechanism for calculating the estimated coefficient of friction is only enabled while the vehicle is traveling through a curve.
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Citations
12 Claims
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1. Yaw moment control apparatus for improving the driving behavior of an automotive vehicle tending to oversteering or understeering, the vehicle including means for determining a vehicle velocity, a vehicle steering angle, a measured yaw rate, and a vehicle lateral acceleration, said apparatus comprising:
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yaw control means for generating a value representing a desired yaw rate adjustment based on the vehicle steering angle, the vehicle velocity and the measured yaw rate; means for calculating an estimated coefficient of friction based on the vehicle velocity, the lateral acceleration, the measured yaw rate and the steering angle, said estimated coefficient of friction being used by the yaw control means for determining the desired yaw rate adjustment; and means, responsible to the vehicle steering angle, for enabling said estimated coefficient of friction determining means only while the vehicle is traveling through a curve. - View Dependent Claims (2, 3, 4, 5)
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6. Yaw moment control apparatus for improving the driving behavior of an automotive vehicle tending to oversteering or understeering, the vehicle having an engine and front and rear axles, each axle having a plurality of wheels, each wheel having a brake, the vehicle including means for determining a vehicle reference velocity from the rotational velocities of the wheels, said apparatus comprising:
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a plurality of sensors for generating signals representing a vehicle steering angle, a lateral acceleration of the vehicle, and a measured yaw rate of the vehicle; yaw rate change estimating means for generating a yaw rate change value representing a change in vehicle yaw rate based on the vehicle steering angle, the vehicle reference velocity and the measured yaw rate; means for generating a value representing a velocity of the side slip angle based on the vehicle reference velocity, the lateral acceleration and the measured yaw rate; yaw control law means for generating a value representing an engine torque adjustment based on the yaw rate change value and the velocity of the side slip angle, said engine torque adjustment value being applied to control the yaw rate of the vehicle; and means for determining a coefficient of friction based on the vehicle reference velocity, the lateral acceleration, the measured yaw rate and the steering angle, wherein said coefficient of friction is used by the yaw control law means for determining the engine torque adjustment value.
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7. A device for controlling the yawing moment of a four-wheel motor vehicle during travel in a curve, comprising:
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yaw control means for generating a value representing a desired yaw rate adjustment that is to be applied to said vehicle, means for recognizing the current coefficient of friction, and for providing a value representing the current coefficient of friction to the yaw control means for use in determining said desired yaw rate adjustment; means for determining whether the vehicle is traveling through a curve means for enabling said current coefficient of friction recognizing means only while the vehicle is traveling through a curve. - View Dependent Claims (8, 9, 10, 11, 12)
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Specification