Method and device for detecting motor vehicle tilt
First Claim
1. A method for detecting a tendency of a vehicle to roll over about a vehicle axis, the vehicle axis being oriented in a longitudinal direction of the vehicle, the method comprising the steps of:
- (a) determining, for at least one wheel, a variable describing a wheel rpm;
(b) determining at least one variable representing transverse dynamics of the vehicle;
(c) determining, for the at least one wheel, a variable describing quantitatively a wheel behavior, the variable describing quantitatively the wheel behavior being a function of (1) the variable describing the wheel rpm for a corresponding wheel of the at least one wheel and (2) the at least one variable representing the transverse dynamics of the vehicle; and
(d) determining whether the vehicle has the tendency to roll over about the vehicle axis as a function of at least the variable describing quantitatively the wheel behavior of at least one of the at least one wheel.
1 Assignment
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Accused Products
Abstract
A method and a device serve to detect a tendency of a vehicle to roll over about a vehicle axis oriented in the longitudinal direction of the vehicle. To do so, a variable describing the wheel rpm is determined for at least one wheel. Furthermore, at least one variable representing the transverse dynamics of the vehicle is determined. For at least one wheel, a variable describing the wheel behavior quantitatively is determined at least as a function of the variable describing the wheel rpm of the corresponding wheel and one of the variables representing the transverse dynamics of the vehicle. Whether the vehicle has a tendency to roll over about a vehicle axis oriented in the longitudinal direction of the vehicle is determined at least as a function of the variable determined for at least one wheel, describing the wheel behavior of this wheel quantitatively. The method and the device for detecting a tendency of a vehicle to roll over about a vehicle axis oriented in the longitudinal direction of the vehicle are used in the context of stabilizing the vehicle.
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Citations
17 Claims
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1. A method for detecting a tendency of a vehicle to roll over about a vehicle axis, the vehicle axis being oriented in a longitudinal direction of the vehicle, the method comprising the steps of:
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(a) determining, for at least one wheel, a variable describing a wheel rpm;
(b) determining at least one variable representing transverse dynamics of the vehicle;
(c) determining, for the at least one wheel, a variable describing quantitatively a wheel behavior, the variable describing quantitatively the wheel behavior being a function of (1) the variable describing the wheel rpm for a corresponding wheel of the at least one wheel and (2) the at least one variable representing the transverse dynamics of the vehicle; and
(d) determining whether the vehicle has the tendency to roll over about the vehicle axis as a function of at least the variable describing quantitatively the wheel behavior of at least one of the at least one wheel. - View Dependent Claims (2, 3, 4, 5, 6, 7)
the variable, for the at least one wheel, describing quantitatively the wheel behavior is greater than a first threshold value;
the variable, for the at least one wheel, describing quantitatively the wheel behavior is smaller than a second threshold value;
an absolute value of a difference between the variable, for the at least one wheel, describing quantitatively the wheel behavior and a comparison value is greater than a third threshold value;
an absolute value of a variable describing a time characteristic of the variable, for the at least one wheel, describing quantitatively the wheel behavior is smaller than a fourth threshold value; and
an absolute value of a variable describing an angle of inclination of a particular wheel axle is greater than a fifth threshold value, the variable describing the angle of inclination being a function of at least the respective variable describing quantitatively the wheel behavior for each wheel of the at least one wheel on the particular wheel axle.
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8. A device for detecting a tendency of a vehicle to roll over about a vehicle axis, the vehicle axis being oriented in a longitudinal direction of the vehicle, comprising:
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first means for determining a variable describing a wheel rpm for at least one wheel;
second means for determining at least one variable representing transverse dynamics of the vehicle;
third means for determining, for the at least one wheel, a variable describing quantitatively a wheel behavior, the variable describing quantitatively the wheel behavior being a function of the variable determined by the first means for a corresponding wheel and the at least one variable determined by the second means; and
fourth means for determining whether the vehicle has the tendency to roll over about the vehicle axis as a function of at least the variable determined by the third means for the at least one wheel. - View Dependent Claims (9, 10)
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11. A method for detecting a tendency of a vehicle to roll over about a vehicle axis, the vehicle axis being oriented in a longitudinal direction of the vehicle, the method comprising the steps of:
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(a) determining, for at least one wheel, a variable describing a wheel rpm;
(b) determining at least one variable representing transverse dynamics of the vehicle;
(c) determining, for the at least one wheel, a variable describing quantitatively a wheel behavior, the variable describing quantitatively the wheel behavior being a function of (1) the variable describing the wheel rpm for a corresponding wheel of the at least one wheel and (2) the at least one variable representing the transverse dynamics of the vehicle; and
(d) determining whether the vehicle has the tendency to roll over about the vehicle axis as a function of at least the variable describing quantitatively the wheel behavior of at least one of the at least one wheel, wherein the step of determining whether the vehicle has the tendency to roll over includes the steps of;
comparing an absolute value of one of the at least one variable representing the transverse dynamics of the vehicle to a threshold value; and
performing the determination of whether the vehicle has the tendency to roll over when the absolute value is greater than the threshold value. - View Dependent Claims (12)
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13. A method for detecting a tendency of a vehicle to roll over about a vehicle axis, the vehicle axis being oriented in a longitudinal direction of the vehicle, the method comprising the steps of:
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(a) determining, for at least one wheel, a variable describing a wheel rpm;
(b) determining at least one variable representing transverse dynamics of the vehicle;
(c) determining, for the at least one wheel, a variable describing quantitatively a wheel behavior, the variable describing quantitatively the wheel behavior being a function of (1) the variable describing the wheel rpm for a corresponding wheel of the at least one wheel and (2) the at least one variable representing the transverse dynamics of the vehicle; and
(d) determining whether the vehicle has the tendency to roll over about the vehicle axis as a function of at least the variable describing quantitatively the wheel behavior of at least one of the at least one wheel, wherein the step of determining whether the vehicle has the tendency to roll over includes the steps of;
determining a variable describing at least one of a drive slip and a wheel slip prevailing at a particular wheel of the at least one wheel;
comparing an absolute value of the variable describing at least one of the drive slip and the wheel slip to a corresponding threshold value; and
performing the determination of whether the vehicle has the tendency to roll over as a function of the comparing. - View Dependent Claims (14)
performing a first kind of determination of whether the vehicle has the tendency to roll over if the absolute value of the variable describing at least one of the drive slip and the wheel slip prevailing at the particular wheel is smaller than the corresponding threshold value, the first kind of determination being a function of at least the variable describing quantitatively the wheel behavior for at least the particular wheel in an instantaneous time increment; and
performing a second kind of determination of whether the vehicle has the tendency to roll over if the absolute value of the variable describing at least one of the drive slip and the wheel slip prevailing at the particular wheel is not smaller than the corresponding threshold value, the second kind of determination being a function of at least the variable describing quantitatively the wheel behavior for at least the particular wheel in a preceding time increment.
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15. A method for detecting a tendency of a vehicle to roll over about a vehicle axis, the vehicle axis being oriented in a longitudinal direction of the vehicle, the method comprising the steps of:
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(a) determining, for at least one wheel, a variable describing a wheel rpm;
(b) determining at least one variable representing transverse dynamics of the vehicle;
(c) determining, for the at least one wheel, a variable describing quantitatively a wheel behavior, the variable describing quantitatively the wheel behavior being a function of (1) the variable describing the wheel rpm for a corresponding wheel of the at least one wheel and (2) the at least one variable representing the transverse dynamics of the vehicle, wherein the step of determining for a respective wheel of the at least one wheel, the variable describing quantitatively the wheel behavior includes a step of determining a variable describing a wheel load acting on the respective wheel and a step of determining a variable describing at least one of a diameter and a radius of the respective wheel; and
(d) determining whether the vehicle has the tendency to roll over about the vehicle axis as a function of at least the variable describing quantitatively the wheel behavior of at least one of the at least one wheel.
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16. A method for detecting a tendency of a vehicle to roll over about a vehicle axis, the vehicle axis being oriented in a longitudinal direction of the vehicle, the method comprising the steps of:
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(a) determining, for at least one wheel, a variable describing a wheel rpm;
(b) determining at least one variable representing transverse dynamics of the vehicle;
(c) determining, for the at least one wheel, a variable describing quantitatively a wheel behavior, the variable describing quantitatively the wheel behavior being a function of (1) the variable describing the wheel rpm for a corresponding wheel of the at least one wheel and (2) the at least one variable representing the transverse dynamics of the vehicle; and
(d) determining whether the vehicle has the tendency to roll over about the vehicle axis as a function of at least the variable describing quantitatively the wheel behavior of at least one of the at least one wheel, wherein the vehicle has the tendency to roll over when an absolute value of a difference between a variable describing a vehicle speed and a speed limit value is smaller than a corresponding threshold value. - View Dependent Claims (17)
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Specification