Process for controlling driving stability with a yaw rate sensor equipped with two lateral acceleration meters
First Claim
1. A control system for determining yaw adjustments that are used for controlling driving stability of a vehicle having a velocity, a steering angle, a longitudinal direction and a plurality of brakes to which respective braking pressures are applied, individually, comprising:
- vehicle model means responsive to a first value representing the velocity and a second value representing the steering angle for providing a value representing a desired yaw variable, the desired yaw variable being the second derivative of a desired yaw rate of the vehicle with respect to time;
means, responsive to an input signal received from a sensor, for calculating a value representing a measured yaw variable, the measured yaw variable being the second derivative of a measured yaw rate of the vehicle with respect to time; and
comparing means responsive to the vehicle model means and the calculating means for calculating a difference between the desired yaw variable and the measured yaw variable, and for transmitting the difference to a yawing moment control means;
said yawing moment control means being responsive to the difference for determining a yawing moment adjustment that is applied to the vehicle, so that the measured yaw variable value approaches the desired yaw variable value.
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Accused Products
Abstract
A control process for controlling the driving stability of a motor vehicle is provided. The difference between the actual value of the yaw rate and the desired value is measured in a control process to form the additional yawing moment for stabilizing the vehicle. Instead of using yaw sensors for the direct measurement of the yaw rate (yaw angular velocity), two lateral acceleration meters are provided in the sensor. Advantageous variants include the use of the yaw acceleration and/or its derivative as the controlled variable, instead of the yaw rate.
316 Citations
19 Claims
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1. A control system for determining yaw adjustments that are used for controlling driving stability of a vehicle having a velocity, a steering angle, a longitudinal direction and a plurality of brakes to which respective braking pressures are applied, individually, comprising:
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vehicle model means responsive to a first value representing the velocity and a second value representing the steering angle for providing a value representing a desired yaw variable, the desired yaw variable being the second derivative of a desired yaw rate of the vehicle with respect to time; means, responsive to an input signal received from a sensor, for calculating a value representing a measured yaw variable, the measured yaw variable being the second derivative of a measured yaw rate of the vehicle with respect to time; and comparing means responsive to the vehicle model means and the calculating means for calculating a difference between the desired yaw variable and the measured yaw variable, and for transmitting the difference to a yawing moment control means; said yawing moment control means being responsive to the difference for determining a yawing moment adjustment that is applied to the vehicle, so that the measured yaw variable value approaches the desired yaw variable value.
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2. A control system for controlling driving stability of a vehicle which has a velocity, a steering angle, a longitudinal direction and a plurality of brakes to which respective braking pressures are applied, individually, comprising:
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vehicle model means responsive to a first value representing the velocity and a second value representing the steering angle for providing a value representing a desired yaw variable; front and back lateral acceleration sensors positioned at a distance from one another along the longitudinal direction of the vehicle, for providing signals representing front and back lateral accelerations of the vehicle, respectively; means responsive to the signals representing front and back lateral accelerations for calculating a value representing a measured yaw variable; comparing means responsive to the vehicle model means and the calculating means for performing a comparison between the measured yaw variable value and the desired yaw variable value, and for generating a control value based on said comparison; yawing moment control means responsive to the control value for determining a yawing moment adjustment that is applied to the vehicle, so that the measured yaw variable value approaches the desired yaw variable value; and distribution logic means responsive to the yawing moment control means for determining pressure adjustments that are applied to each brake, individually, to adjust the yawing moment that is applied to the vehicle by the brakes, wherein the desired yaw variable is a desired yaw acceleration of the vehicle, and the measured yaw variable is a measured yaw acceleration of the vehicle. - View Dependent Claims (3)
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4. A control system for controlling driving stability of a vehicle which has a velocity, a steering angle, a longitudinal direction and a plurality of brakes to which respective braking pressures are applied, individually, comprising:
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vehicle model means responsive to a first value representing the velocity and a second value representing the steering angle for providing a value representing a desired yaw acceleration of the vehicle, which is the first derivative with respect to time of a desired yaw rate of the vehicle; front and back lateral acceleration sensors positioned at a distance from one another along the longitudinal direction of the vehicle, for providing signals representing front and back lateral accelerations of the vehicle, respectively; means responsive to the signals representing front and back lateral accelerations for calculating a value representing a measured yaw acceleration of the vehicle, which is the first derivative with respect to time of a measured yaw rate of the vehicle; comparing means responsive to the vehicle model means and the calculating means for performing a comparison between the measured yaw acceleration and the desired yaw acceleration, and for generating a control value based on said comparison, said comparing means comprising means for forming the control value based on; (1) a first difference between the desired yaw acceleration and the measured yaw acceleration, and (2) a second difference between the derivative of the desired yaw acceleration with respect to time, and the derivative of the measured yaw acceleration with respect to time; yawing moment control means responsive to the control value for determining a yawing moment adjustment that is applied to the vehicle, so that the measured yaw acceleration approaches the desired yaw acceleration; and distribution logic means responsive to the yawing moment control means for determining pressure adjustments that are applied to each brake, individually, to adjust the yawing moment that is applied to the vehicle by the brakes. - View Dependent Claims (5, 6, 7, 8)
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9. A control system for controlling driving stability of a vehicle which has a velocity, a steering angle, a longitudinal direction and a plurality of brakes to which respective braking pressures are applied, individually, comprising:
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vehicle model means responsive to a first value representing the velocity and a second value representing the steering angle for providing a value representing a desired yaw variable; from and back lateral acceleration sensors positioned at a distance from one another along the longitudinal direction of the vehicle, for providing signals representing front and back lateral accelerations of the vehicle, respectively; means responsive to the signals representing front and back lateral accelerations for calculating a value representing a measured yaw variable; comparing means responsive to the vehicle model means and the calculating means for performing a comparison between the measured yaw variable value and the desired yaw variable value, and for generating a control value based on said comparison, said comparing means including means for determining the velocity value of the side slip angle based on a lateral acceleration of the center of gravity of the vehicle and a yaw rate of the vehicle and for transmitting the velocity value of the side slip angle to the yawing moment control means; yawing moment control means responsive to the control value for determining a yawing moment adjustment that is applied to the vehicle, so that the measured yaw variable value approaches the desired yaw variable value; and distribution logic means responsive to the yawing moment control means for determining pressure adjustments that are applied to each brake, individually, to adjust the yawing moment that is applied to the vehicle by the brakes.
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10. A control system for controlling driving stability of a vehicle which has a velocity, a steering angle, a longitudinal direction and a plurality of brakes to which respective braking pressures are applied, individually, comprising:
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vehicle model means responsive to a first value representing the velocity and a second value representing the steering angle for providing a value representing a desired yaw variable; from and back lateral acceleration sensors positioned at a distance from one another along the longitudinal direction of the vehicle, for providing signals representing front and back lateral accelerations of the vehicle, respectively; means responsive to the signals representing front and back lateral accelerations for calculating a value representing a measured yaw variable; comparing means responsive to the vehicle model means and the calculating means for performing a comparison between the measured yaw variable value and the desired yaw variable value, for generating a control value based on said comparison, and for determining the velocity value of the side slip angle based on the front and back lateral acceleration signals, by one of the group consisting of; (1) a band limited integrator, (2) a scaled low-pass filter, and (3) a non-linear vehicle modeling algorithm, said comparing means transmitting the velocity value of the side slip angle to the yawing moment control means; yawing moment control means responsive to the control value for determining a yawing moment adjustment that is applied to the vehicle, so that the measured yaw variable value approaches the desired yaw variable value; and distribution logic means responsive to the yawing moment control means for determining pressure adjustments that are applied to each brake, individually, to adjust the yawing moment that is applied to the vehicle by the brakes.
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11. A control system for controlling driving stability of a vehicle which has a velocity, a steering angle, a longitudinal direction and a plurality of brakes to which respective braking pressures are applied, individually, comprising:
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vehicle model means responsive to a first value representing the velocity and a second value representing the steering angle for providing a value representing a desired yaw variable, the desired yaw variable being the derivative of a desired yaw acceleration of the vehicle with respect to time; front and back lateral acceleration sensors positioned at a distance from one another along the longitudinal direction of the vehicle, for providing signals representing front and back lateral accelerations of the vehicle, respectively; means responsive to the signals representing front and back lateral accelerations for calculating a value representing a measured yaw variable, the measured yaw variable being a derivative of a measured yaw acceleration of the vehicle with respect to time; comparing means responsive to the vehicle model means and the calculating means for performing a comparison between the measured yaw variable value and the desired yaw variable value, the comparing means including means for calculating a difference between the desired yaw variable and the measured yaw variable, and for transmitting the difference to the yawing moment control means; yawing moment control means responsive to the difference for determining a yawing moment adjustment that is applied to the vehicle, so that the measured yaw variable value approaches the desired yaw variable value; and distribution logic means responsive to the yawing moment control means for determining pressure adjustments that are applied to each brake, individually, to adjust the yawing moment that is applied to the vehicle by the brakes.
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12. In a process for controlling the driving stability of a vehicle, in which a plurality of input variables determined essentially by a desired path curve are converted into a yaw angle variable based on a vehicle model set by calculated variables, and the yaw angle variable is compared with a measured actual value of the yaw angle variable in a comparison unit, wherein an additional torque variable is calculated in a control law unit, and the torque variable is used to set pressure variables, which generate an additional yawing moment via the wheel brakes of the vehicle, and the additional yawing moment brings the measured yaw angle variable to the calculated desired yaw angle variable, and wherein the actual value of the yaw angle variable is measured by a sensor fastened to the vehicle, the improvement comprising the steps of:
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generating signals representing front and back lateral accelerations using two lateral acceleration meters, which are arranged offset in relation to one another in the longitudinal direction of the vehicle and measure the lateral acceleration of the vehicle; and calculating, as the measured yaw variable, the second derivative of a measured yaw rate of the vehicle with respect to time in response to the signals representing front and back lateral accelerations. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19)
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Specification