Brake system for a motor vehicle with yaw moment control
First Claim
1. Apparatus for controlling an automotive vehicle, the vehicle having a plurality of wheels, each wheel having an individually operable brake, said apparatus comprising:
- means for determining a steering angle of the vehicle;
yawing moment control means responsive to the steering angle for determining a yawing moment that is to be applied to the vehicle to prevent one of the group consisting of an undesirable yaw angle, yaw rate and yaw acceleration; and
distribution logic means responsive to the yawing moment control means for determining;
a respectively different weighted coefficient for each individual brake, andan individual braking adjustment to be applied to each respective one of the brakes based on said yawing moment and the respective weighted coefficient of said each respective one brake.
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Accused Products
Abstract
Apparatus for controlling an automotive vehicle is provided. The vehicle has a plurality of wheels, each wheel having an individually operable brake. The apparatus comprises a mechanism for determining the steering angle of the vehicle. A yawing moment controller receives the steering angle and determines a moment that is applied to the vehicle to prevent an undesirable yaw angle, yaw rate or yaw acceleration. Distribution logic receives the output of the yawing moment controller. The distribution logic determines a respectively different weighted coefficient for each individual brake, and an individual braking pressure to be applied to each respective one of the brakes based on the moment and the respective weighted coefficient of the one brake.
442 Citations
25 Claims
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1. Apparatus for controlling an automotive vehicle, the vehicle having a plurality of wheels, each wheel having an individually operable brake, said apparatus comprising:
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means for determining a steering angle of the vehicle; yawing moment control means responsive to the steering angle for determining a yawing moment that is to be applied to the vehicle to prevent one of the group consisting of an undesirable yaw angle, yaw rate and yaw acceleration; and distribution logic means responsive to the yawing moment control means for determining; a respectively different weighted coefficient for each individual brake, and an individual braking adjustment to be applied to each respective one of the brakes based on said yawing moment and the respective weighted coefficient of said each respective one brake. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. Brake system for a motor vehicle with more than two wheels, in which at least some of the wheels are provided with a braking means, wherein the braking means associated with one particular wheel can be actuated independently from the others, comprising:
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a control device responsive to a steering angle value for determining the individual braking torques, which the braking means shall exert, and which sends the corresponding control commands to the braking means, a means for determining the steering angle, which sends a variable characterizing the steering angles; with a means for determining an additional yawing moment around the vertical axis of the motor vehicle, which is sufficient for preventing one of the group consisting of an undesired yaw angle, an undesired yaw rate and an undesired yaw acceleration, and which sends a corresponding value to the control device; wherein the control device determines an individual wheel brake coefficient for each wheel provided with a braking means, and said control device determines the braking torques for the individual wheels from the additional yawing moment and from a respective weighted coefficient corresponding to each individual wheel brake coefficient. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25)
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Specification