Method and device for adjusting an amount of movement representing the vehicle motion

• US 6,266,599 B1
• Filed: 08/25/1998
• Issued: 07/24/2001
• Est. Priority Date: 09/24/1996
• Status: Expired due to Term

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Van Zanten, Anton, Ehret, Thomas
• Primary Examiner(s): Nguyen, Tan
• Assistant Examiner(s): Tran, Dalena
• Application Number:
  US09/077,163
• Time in Patent Office: 1,064 Days
• Field of Search: 701/71, 701/72, 701/75, 701/80, 701/82, 701/70, 701/41, 180/197, 303/146, 303/24.1, 303/140, 303/191
• US Class Current: 701/71
• CPC Class Codes: B60T 2210/22 Banked curves
• CPC Class Codes: B60T 2230/02 Side slip angle, attitude angle, floating angle, drift angle
• CPC Class Codes: B60T 8/1755 Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02

Abstract

A device and a method of controlling a movement parameter representing the movement of the vehicle, includes a first arrangement for detecting at least the transverse acceleration of the vehicle is proposed. The device also contains a second arrangement at least for determining a transverse acceleration component which depends on the transverse slope of the road surface and/or for correcting at least the transverse acceleration of the vehicle at least as a function of the transverse acceleration component. In the second arrangement a status of the vehicle whereby the transverse acceleration component which depends on the transverse slope of the road surface is determined at least as a function of the slip angle occurring on the rear axle of the vehicle.

Claims

1. A device for controlling a movement parameter representing a movement of a vehicle, comprising:

a first arrangement detecting at least the movement parameter and determining a transverse acceleration parameter indicative of a transverse acceleration of the vehicle; and

a second arrangement for determining a transverse acceleration component dependent upon a transverse slope of a road surface, and for correcting the determined transverse acceleration of the vehicle at least as a function of the transverse acceleration component,

wherein the second arrangement;

determines a slip angle occurring on a rear axle of the vehicle,

detects a vehicle condition, during which the transverse acceleration component is determined, as a function of the slip angle, and

determines whether the determined transverse acceleration component is plausible.

2. The device according to claim 1,

wherein the first arrangement detects a first parameter corresponding to a yaw of the vehicle and second parameters corresponding to wheel velocities, and

wherein a further parameter representing a longitudinal velocity of the vehicle is determined as a function of the wheel velocities.

3. The device according to claim 2, wherein the transverse acceleration component is determined as a function of the first parameter, the transverse acceleration parameter and the further parameter.

4. The device according to claim 2, wherein the slip angle is determined as a function of a third parameter corresponding to a float angle of the vehicle, the first parameter and the further parameter.

5. The device according to claim 4, wherein the second arrangement determines the float angle as a function of the first parameter, the transverse acceleration parameter and the further parameter.

6. The device according to claim 5,

wherein the vehicle includes actuators influencing braking torques acting on individual wheels of the vehicle, and

wherein the second arrangement determines the float angle of the vehicle as a function of predetermined actions of the actuators which are performed independently of a driver to control the movement parameter.

7. The device according to claim 1,

wherein the second arrangement detects the vehicle condition as a function of the slip angle by comparing the slip angle with a predetermined threshold value, and

wherein the vehicle condition is detected when the slip angle is greater than the predetermined threshold value.

8. A device for controlling a movement parameter representing a movement of a vehicle, comprising:

a first arrangement detecting at least the movement parameter and determining a transverse acceleration parameter indicative of a transverse acceleration of the vehicle; and

a second arrangement performing at least one of;

determining a transverse acceleration component dependent upon a transverse slope of a road surface, and

correcting the determined transverse acceleration of the vehicle at least as a function of the transverse acceleration component,

wherein the second arrangement;

determines a slip angle occurring on a rear axle of the vehicle,

detects a vehicle condition, during which the transverse acceleration component is determined, as a function of the slip angle, and

determines whether the determined transverse acceleration component is plausible;

wherein

the vehicle includes actuators influencing a braking torque action on individual wheels of the vehicle;

the first arrangement detects a steering angle of the vehicle; and

the second arrangement, in determining the vehicle condition, monitors at least one of the actuators and the steering angle for indication if a driver of the vehicle has initiated predetermined actions, the vehicle condition being detected when the braking torque generated by the driver is smaller than a first predetermined threshold value and when a gradient of the steering angle is smaller than a second predetermined threshold value.

9. A device for controlling a movement parameter representing a movement of a vehicle, comprising:

a first arrangement detecting at least the movement parameter and determining a transverse acceleration parameter indicative of a transverse acceleration of the vehicle; and

a second arrangement performing at least one of;

determining a transverse acceleration component dependent upon a transverse slope of a road surface, and

correction the determined transverse acceleration of the vehicle at least as a function of the transverse acceleration component,

wherein the second arrangement;

determines a slip angle occurring on a rear axle of the vehicle,

detects a vehicle condition, during which the transverse acceleration component is determined, as a function of the slip angle, and

determines whether the determined transverse acceleration component is plausible;

wherein;

the first arrangement detects a first parameter corresponding to a yaw of the vehicle and second parameters corresponding to wheel velocities;

a further parameter representing a longitudinal velocity of the vehicle is determined as a function of the wheel velocities;

a first value of the first parameter is determined as a function of the determined transverse acceleration component, and a second value of the first parameter is determined by the first arrangement;

in determining whether the determined transverse acceleration component is plausible, the second arrangement determines a difference between the first value and the second value and compares the difference with a predetermined threshold value; and

the second arrangement corrects the transverse acceleration of the vehicle when the difference is smaller than the predetermined threshold value.

10. A method of controlling a movement parameter representing a movement of a vehicle, comprising the steps of:

determining a transverse acceleration of the vehicle;

performing at least one of the following;

determining a transverse acceleration component relating to a transverse slope of a road surface, and

correcting the determined transverse acceleration of the vehicle as a function of the transverse acceleration component;

determining a slip angle occurring on a rear axle of the vehicle;

determining a condition of the vehicle, in which the transverse acceleration component is determined, as a function of the slip angle; and

determining whether the determined transverse acceleration component is plausible.

11. A device for controlling a movement parameter representing a movement of a vehicle, comprising:

means for detecting at least the movement parameter;

first means for determining a transverse acceleration parameter indicative of a transverse acceleration of the vehicle;

second means for determining a transverse acceleration component dependent upon a transverse slope of a road surface so as to provide a determined transverse acceleration component of the vehicle, wherein the second means for determining operates to;

determine a slip angle occurring on a rear axle of the vehicle,

detect a vehicle condition, during which the transverse acceleration component is determined, based on the slip angle, and

determine whether the determined transverse acceleration component is plausible; and

means for correcting the determined transverse acceleration of the vehicle based on at least the transverse acceleration component.

12. A method of modifying a movement parameter of a vehicle, comprising the steps of:

determining a transverse acceleration component relating to a transverse slope of a road surface;

determining if a vehicle condition is met;

determining a slip angle parameter of a rear axle of the vehicle if the vehicle condition is met;

determining if the slip angle parameter is greater than a threshold;

calculating a new transverse acceleration component if the vehicle condition is met and the slip angle parameter is greater than the threshold;

determining if the new transverse acceleration component is plausible; and

correcting the transverse acceleration component of the vehicle based on the new transverse acceleration component if the new transverse acceleration component is plausible.