Vehicle dynamics control system using control variable derived by means of vehicle model
First Claim
1. A vehicle dynamics control system for controlling movement of a vehicle having wheels, said system comprising:
- detection means for detecting variables which represent rotational movements of the wheels, a variable which represents the steering angle, and at least one of a variable which represents lateral movement of the vehicle and a variable which represents yawing movement of the vehicle,means for forming a variable representing longitudinal speed of the vehicle from the detected variables representing rotational movements of said wheels,means for forming a control variable by means of a vehicle model as a function of the variable representing longitudinal speed of the vehicle and at least one of said variable which represents lateral movement and said variable which represents yawing movement,means for forming a lower limit value and an upper limit value as a function of at least one of said variables representing rotational movements of said wheels, said variable which represents lateral movement of the vehicle and said variable which represents yawing movement of the vehicle which limit values define a desired range for said control variable, andmeans for braking the wheels of the vehicle so that the control variable lies within the desired range defined by limit values.
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Accused Products
Abstract
Detection means are provided which detect the rotational movements of the wheels, a variable which represents the steering angle, and at least one variable which represents the lateral movement and/or the yawing movement of the vehicle. Signals for influencing actuators for braking the wheels are formed by controller means as a function of the detected data in such a way that a control variable which is dependent on at least the detected lateral movement or yawing movement of the vehicle is adjusted to a desired range of control variables, that is to say the actuators are influenced in such a way that the control variable is kept within a desired range. This desired range is defined by two specific limit values.
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Citations
19 Claims
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1. A vehicle dynamics control system for controlling movement of a vehicle having wheels, said system comprising:
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detection means for detecting variables which represent rotational movements of the wheels, a variable which represents the steering angle, and at least one of a variable which represents lateral movement of the vehicle and a variable which represents yawing movement of the vehicle, means for forming a variable representing longitudinal speed of the vehicle from the detected variables representing rotational movements of said wheels, means for forming a control variable by means of a vehicle model as a function of the variable representing longitudinal speed of the vehicle and at least one of said variable which represents lateral movement and said variable which represents yawing movement, means for forming a lower limit value and an upper limit value as a function of at least one of said variables representing rotational movements of said wheels, said variable which represents lateral movement of the vehicle and said variable which represents yawing movement of the vehicle which limit values define a desired range for said control variable, and means for braking the wheels of the vehicle so that the control variable lies within the desired range defined by limit values. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A vehicle dynamics control system for controlling movement of a vehicle having wheels, said system comprising:
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detection means for detecting variables which represent rotational movements of the wheels, a variable which represents the steering angle, and at least one of a variable which represents lateral movement of the vehicle and a variable which represents yawing movement of the vehicle, means for forming a variable representing longitudinal speed of the vehicle from the detected variables representing rotational movements of said wheels, means for forming a control variable by means of a vehicle model as a function of the variable representing longitudinal speed of the vehicle and at least one of said variable which represents lateral movement and said variable which represents yawing movement, means for forming a lower limit value as a function of the steering angle variable and, an upper limit value as a function of at least one of said variable which represents the steering angle, said variables representing rotational movements of said wheels, said variable which represents lateral movement of the vehicle and said variable which represents yawing movement of the vehicle, which limit values define a desired range for said control variable, and means for braking the wheels of the vehicle so that the control variable lies within the desired range defined by limit values. - View Dependent Claims (13, 14, 15)
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16. A vehicle dynamics control system for controlling movement of a vehicle having wheels, said system comprising:
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detection means for detecting variables which represent rotational movements of the wheels, a variable which represents the steering angle, and at least one of a variable which represents lateral movement of the vehicle and a variable which represents yawing movement of the vehicle, means for forming a variable representing longitudinal speed of the vehicle from the detected variables representing rotational movements of said wheels, means for forming a control variable by means of a vehicle model as a function of the variable representing longitudinal speed of the vehicle and at least one of said variable which represents lateral movement and said variable which represents yawing movement, means for forming a lower limit value as a function of at least one of said variable which represents the steering angle said variables representing rotational movements of said wheels, said variable which represents lateral movement of the vehicle and said variable which represents yawing movement of the vehicle, and an upper limit variable as a function of the variable which represents the steering angle and variables which represent rotational movement of the wheels and at least one of the variable which represents lateral movement of the vehicle and the variable which represents yawing movement of the vehicle, which limit values define a desired range for said control variable, and means for braking the wheels of the vehicle so that the control variable lies within the desired range defined by limit values. - View Dependent Claims (17, 18, 19)
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Specification