Method for determining the yaw velocity of a vehicle

• US 6,304,807 B1
• Filed: 06/12/1998
• Issued: 10/16/2001
• Est. Priority Date: 06/12/1997
• Status: Expired due to Term

• Current Assignee: Continental Automotive GmbH (Continental AG)
• Original Assignee: Siemens AG
• Inventors: Hoppstock, Reiner, Kirchberger, Andreas
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): MARC-COLEMAN, MARTHE Y
• Application Number:
  US09/096,977
• Time in Patent Office: 1,222 Days
• Field of Search: 701/79, 701/74, 701/72, 701/91, 701/93, 701/75, 303/46, 303/147
• US Class Current: 701/72
• CPC Class Codes: B60T 2250/03 Vehicle yaw rate
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence

Abstract

A method for determining the yaw velocity of a vehicle is used, in particular, for adaptive driving-speed control. The yaw velocity is calculated from measurements of wheel speed determined by wheel-speed sensors on a right and on a left non-driven wheel by introducing a correction term with a correction factor with which differing tire wear as well as different tire pressure and other interfering parameters can be eliminated.

Claims

1. A method for determining a yaw Velocity of a vehicle, which comprises:

measuring wheel speeds with wheel-speed sensors on a right and a left non-driven wheel;

determining a yaw velocity of the vehicle from a comparison of the measurements of the right wheel speed v_r and the left wheel speed v_l; and

correcting the wheel speeds v_r and v_l by calculating a correction factor q=v_rs/v_ls when the vehicle is driving in a straight line and using the correction factor q to correct a ratio v_r/v_l between the right and left wheel speeds, where v_rs and v_ls are the wheel speeds when driving in a straight line.

2. The method according to claim 1, which comprises calculating the yaw velocity as a function of the determined wheel speed v and a characteristic driving speed v_ch from a ratio and multiplying the ratio by a correction term ((v_r/v_l)−

q/((v_r/v_l)=q).

3. The method according to claim 1, which comprises determining the correction factor q when a particular driving speed is exceeded and for a steering angle of approximately zero.

4. The method according to claim 1, which comprises filtering the correction factor q with a low-pass filter.

5. The method according to claim 4, which comprises continuously determining a difference in the yaw velocity due to a steering angle and due to the wheel speeds, and when the difference exceeds a predetermined amount, following up the correction factor q by shortening a time constant of the low-pass pass filter before increasing it again slowly to a maximum value after a new correction factor has been determined.

6. The method according to claim 1, which comprises carrying out an adaptive driving-speed control with the determined yaw velocity.