Method and device for determining an unstable driving condition of a motor vehicle

• US 6,519,523 B2
• Filed: 12/01/2000
• Issued: 02/11/2003
• Est. Priority Date: 12/04/1999
• Status: Expired due to Term

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Schülke, Armin, Stoller, Roland, Verhagen, Armin-Maria
• Primary Examiner(s): Zanelli, Michael J.
• Application Number:
  US09/728,339
• Publication Number:
  US 20010021885A1
• Time in Patent Office: 802 Days
• Field of Search: 701/72, 701/70, 303/146
• US Class Current: 701/70
• CPC Class Codes: B60G 17/0185 for failure detection
• CPC Class Codes: B60G 17/01908 Acceleration or inclination sensors characterised by the use of gyroscopes B60G21/08
• CPC Class Codes: B60G 2400/0523 Yaw rate
• CPC Class Codes: B60G 2400/104 lateral or transversal with regard to vehicle
• CPC Class Codes: B60G 2400/204 Vehicle speed
• CPC Class Codes: B60G 2400/41 Steering angle
• CPC Class Codes: B60G 2600/044 Alarm means
• CPC Class Codes: B60G 2600/08 Failure or malfunction detecting means
• CPC Class Codes: B60G 2800/24 Steering, cornering
• CPC Class Codes: B60G 2800/704 predicting unorthodox driving conditions for safe or optimal driving
• CPC Class Codes: B60G 2800/912 Attitude Control; levelling control
• CPC Class Codes: B60G 2800/92 ABS - Brake Control
• 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
• CPC Class Codes: B60T 8/17551 determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters

Abstract

A method and a device in which, during the cornering of a motor vehicle, a rating factor is determined by comparing a computed lateral acceleration with a measured lateral acceleration. The lateral acceleration is measured, for example, using an acceleration sensor or corresponding yaw-rate sensor. The computed lateral acceleration is calculated via the steering angle and the road speed. A weighted rating factor generated from the difference signal is a measure of the stable or unstable driving condition of the motor vehicle. This rating factor can be either displayed or supplied to an additional control unit, for example an automatic transmission, a suspension control system or an engine management system.

Claims

1. A method for determining an unstable driving condition of a motor vehicle, comprising the steps of:

during a cornering of the vehicle, measuring at least one of (a) a lateral acceleration and (b) a yaw rate of the vehicle using a measuring device, and measuring a road speed of the vehicle using a speedometer;

measuring a steering angle of the vehicle;

computing, as a function of the steering angle and the road speed, a value of at least one of (a) the lateral acceleration and (b) the yaw rate; and

determining at least one of (a) a first difference between the measured lateral acceleration and the computed lateral acceleration and (b) a second difference between the measured yaw rate and the computed yaw rate, and further comprising the step of generating a rating factor as a function of at least one of the first and second differences, and wherein the rating factor is weighted for the range 0 to 1.

2. The method according to claim 1, further comprising the step of delivering the rating factor to a control unit.

3. The method according to claim 2, wherein the control unit is one of an automatic transmission, a suspension control system and an engine management system.

4. The method according to claim 1, further comprising the step of weighting the computed lateral acceleration with model-specific data of the motor vehicle.

5. A method for determining an unstable driving condition of a motor vehicle, comprising the steps of:

during a cornering of the vehicle, measuring at least one of (a) a lateral acceleration and (b) a yaw rate of the vehicle using a measuring device, and measuring a road speed of the vehicle using a speedometer;

measuring a steering angle of the vehicle;

computing, as a function of the steering angle and the road speed, a value of at least one of (a) the lateral acceleration and (b) the yaw rate; and

determining at least one of (a) a first difference between the measured lateral acceleration and the computed lateral acceleration and (b) a second difference between the measured yaw rate and the computed yaw rate, and further comprising the step of generating a rating factor as a function of at least one of the first and second differences, and wherein the rating factor is realized in the form of a slope in a transition range between 1 and 0.

6. A method for determining an unstable driving condition of a motor vehicle, comprising the steps of:

during a cornering of the vehicle, measuring at least one of (a) a lateral acceleration and (b) a yaw rate of the vehicle using a measuring device, and measuring a road speed of the vehicle using a speedometer;

measuring a steering angle of the vehicle;

computing, as a function of the steering angle and the road speed, a value of at least one of (a) the lateral acceleration and (b) the yaw rate; and

determining at least one of (a) a first difference between the measured lateral acceleration and the computed lateral acceleration and (b) a second difference between the measured yaw rate and the computed yaw rate, and further comprising the step of generating a rating factor as a function of at least one of the first and second differences, and further comprising the step of outputting the rating factor, the outputting being at least one of visual and acoustic.

7. A method for determining an unstable driving condition of a motor vehicle, comprising the steps of:

during a cornering of the vehicle, measuring at least one of (a) a lateral acceleration and (b) a yaw rate of the vehicle using a measuring device, and measuring a road speed of the vehicle using a speedometer;

measuring a steering angle of the vehicle;

computing, as a function of the steering angle and the road speed, a value of at least one of (a) the lateral acceleration and (b) the yaw rate; and

determining at least one of (a) a first difference between the measured lateral acceleration and the computed lateral acceleration and (b) a second difference between the measured yaw rate and the computed yaw rate, and wherein the lateral acceleration is computed according to the formula;

$a_{\mathrm{QB}}=\frac{\tan <br><br>\text{\hspace{1em}<br><br>}<br><br>\left(\frac{w_{\mathrm{LR}}}{i_{\mathrm{Lenk}}}\right)}{L}*\frac{{\left(\mathrm{vx}\right)}^2}{1+{\left(\frac{v_X}{v_{\mathrm{CH}}}\right)}^2}.$

8. A method for determining an unstable driving condition of a motor vehicle, comprising the steps of:

during a cornering of the vehicle, measuring at least one of (a) a lateral acceleration and (b) a yaw rate of the vehicle using a measuring device, and measuring a road speed of the vehicle using a speedometer;

measuring a steering angle of the vehicle;

computing, as a function of the steering angle and the road speed, a value of at least one of (a) the lateral acceleration and (b) the yaw rate; and

determining at least one of (a) a first difference between the measured lateral acceleration and the computed lateral acceleration and (b) a second difference between the measured yaw rate and the computed yaw rate, and further comprising the step of generating an average rating factor from rating factors for the lateral acceleration and the yaw rate.

9. A device for determining an unstable driving condition of a motor vehicle, comprising:

a steering-angle sensor for measuring a steering angle;

a speedometer for measuring a road speed of the vehicle;

a measuring device for measuring at least one of (a) a lateral acceleration and (b) a yaw rate of the vehicle; and

a device for calculating, as a function of the steering angle and the road speed, at least one of (a) the lateral acceleration and (b) the yaw rate of the vehicle, and for generating a rating factor as a function of at least one of (a) a difference between the measured lateral acceleration and the calculated lateral acceleration and (b) a difference between the measured yaw rate and the calculated yaw rate, wherein the rating factor is in the range of 0 to 1.

10. A device for determining an unstable driving condition of a motor vehicle, comprising:

a steering-angle sensor for measuring a steering angle;

a speedometer for measuring a road speed of the vehicle;

a measuring device for measuring at least one of (a) a lateral acceleration and (b) a yaw rate of the vehicle; and

a device for calculating, as a function of the steering angle and the road speed, at least one of (a) the lateral acceleration and (b) the yaw rate of the vehicle, and for generating a rating factor as a function of at least one of (a) a difference between the measured lateral acceleration and the calculated lateral acceleration and (b) a difference between the measured yaw rate and the calculated yaw rate, wherein the rating factor is in the form of a slope in a transition range of between 1 and 0.

11. A device for determining an unstable driving condition of a motor vehicle, comprising:

a steering-angle sensor for measuring a steering angle;

a speedometer for measuring a road speed of the vehicle;

a measuring device for measuring at least one of (a) a lateral acceleration and (b) a yaw rate of the vehicle; and

a device for calculating, as a function of the steering angle and the road speed, at least one of (a) the lateral acceleration and (b) the yaw rate of the vehicle, and for generating a rating factor as a function of at least one of (a) a difference between the measured lateral acceleration and the calculated lateral acceleration and (b) a difference between the measured yaw rate and the calculated yaw rate, wherein the rating factor is outputted as at least one of visual output and acoustic output.

12. A device for determining an unstable driving condition of a motor vehicle, comprising:

a steering-angle sensor for measuring a steering angle;

a speedometer for measuring a road speed of the vehicle;

a measuring device for measuring at least one of (a) a lateral acceleration and (b) a yaw rate of the vehicle; and

a device for calculating, as a function of the steering angle and the road speed, at least one of (a) the lateral acceleration and (b) the yaw rate of the vehicle, and for generating a rating factor as a function of at least one of (a) a difference between the measured lateral acceleration and the calculated lateral acceleration and (b) a difference between the measured yaw rate and the calculated yaw rate, wherein the lateral acceleration is computed according to the formula;

$a_{\mathrm{QB}}=\frac{\tan <br><br>\text{\hspace{1em}<br><br>}<br><br>\left(\frac{w_{\mathrm{LR}}}{i_{\mathrm{Lenk}}}\right)}{L}*\frac{{\left(\mathrm{vx}\right)}^2}{1+{\left(\frac{v_X}{v_{\mathrm{CH}}}\right)}^2}.$

13. A device for determining an unstable driving condition of a motor vehicle, comprising:

a steering-angle sensor for measuring a steering angle;

a speedometer for measuring a road speed of the vehicle;

a measuring device for measuring at least one of (a) a lateral acceleration and (b) a yaw rate of the vehicle; and

a device for calculating, as a function of the steering angle and the road speed, at least one of (a) the lateral acceleration and (b) the yaw rate of the vehicle, and for generating a rating factor as a function of at least one of (a) a difference between the measured lateral acceleration and the calculated lateral acceleration and (b) a difference between the measured yaw rate and the calculated yaw rate, wherein an average rating factor is obtained from rating factors for the lateral acceleration and the yaw rate.