System for determining skew stiffness
First Claim
1. Method for controlling the actual motion of a vehicle, said method comprising determining input variables comprising yaw velocity φ
- , float angle β
, longitudinal vehicle velocity v, front wheel steering angle δ
v, and optionally a rear wheel steering angle δ
h,determining when the vehicle is undergoing steady state travel around a curve,determining a front skew stiffness cv and optionally a rear skew stiffness ch based on said input variables which are determined when said vehicle is undergoing steady state travel around a curve,calculating a desired vehicle motion based on said front skew stiffness cv and optionally said rear skew stiffness ch, andcontrolling said vehicle so that the actual vehicle motion conforms to the desired vehicle motion.
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Accused Products
Abstract
The yawing motion, the float angle, the longitudinal velocity of the vehicle, the front wheel steering angle, and optionally the rear wheel steering angle are determined. When certain driving conditions are present, at least the variable representing the front skew stiffness is determined as a function of the determined variables. In an alternative embodiment of the invention, the detection of the float angle is omitted. The variable representing the front skew stiffness is then calculated as a function of the detected yawing motion and the detected longitudinal velocity of the vehicle and as a function of a fixed, predefined value representing the rear skew stiffness. This calculation, too, occurs only when certain driving conditions are present.
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Citations
14 Claims
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1. Method for controlling the actual motion of a vehicle, said method comprising determining input variables comprising yaw velocity φ
- , float angle β
, longitudinal vehicle velocity v, front wheel steering angle δ
v, and optionally a rear wheel steering angle δ
h,determining when the vehicle is undergoing steady state travel around a curve, determining a front skew stiffness cv and optionally a rear skew stiffness ch based on said input variables which are determined when said vehicle is undergoing steady state travel around a curve, calculating a desired vehicle motion based on said front skew stiffness cv and optionally said rear skew stiffness ch, and controlling said vehicle so that the actual vehicle motion conforms to the desired vehicle motion. - View Dependent Claims (2, 3, 4, 5, 6, 7)
- , float angle β
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8. Method for controlling the actual motion of a vehicle, said method comprising
determining input variables comprising yaw velocity φ - '"'"', longitudinal vehicle velocity v, front wheel steering angle δ
v, and rear wheel steering angle δ
h,determining when the vehicle is undergoing steady state travel around a curve, determining a front skew stiffness cv based on said input variable, which are determined when said vehicle is undergoing steady state travel around a curve, and a predetermined value ch for the rear skew stiffness, calculating a desired vehicle motion based on said front skew stiffness cv, and controlling said vehicle so that the actual vehicle motion conforms to said desired vehicle motion. - View Dependent Claims (9, 10, 11, 12, 13, 14)
- '"'"', longitudinal vehicle velocity v, front wheel steering angle δ
Specification