Method and device for estimating a transverse acceleration at an axle of a semitrailer or a trailer of a vehicle combination
First Claim
1. A method for estimating a transverse acceleration ayAA at an axle of at least one of a semitrailer and a trailer of a vehicle combination, which includes a towing vehicle and the at least one of the semitrailer and the trailer, the method comprising the steps of:
- at least one of measuring and estimating a yaw velocity ω
Z of the towing vehicle;
at least one of measuring and estimating a forward velocity vxZ of the towing vehicle; and
at least one of computationally correlating and performing a relational operation on the yaw velocity ω
Z and the forward velocity vxZ to obtain an estimated value of the transverse acceleration ayAA at the axle of the at least one of the semitrailer and the trailer.
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Accused Products
Abstract
A method for estimating a transverse acceleration at an axle of a trailer/semitrailer of a vehicle combination including the step of measuring or estimating the yaw velocity ωZ of the towing vehicle, measuring or estimating the forward velocity vxZ of the towing vehicle, measuring or estimating an articulation angle ΔΨ between the towing vehicle and the trailer/semitrailer, particularly between a longitudinal axis xZ of the towing vehicle and a longitudinal axis zA of the trailer/semitrailer, and computationally correlating (or performing a relational operation on) the values ωZ, vxZ and ΔΨ to obtain an estimated value of the transverse acceleration ayAA at the axle of the semitrailer/trailer.
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Citations
9 Claims
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1. A method for estimating a transverse acceleration ayAA at an axle of at least one of a semitrailer and a trailer of a vehicle combination, which includes a towing vehicle and the at least one of the semitrailer and the trailer, the method comprising the steps of:
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at least one of measuring and estimating a yaw velocity ω
Z of the towing vehicle;
at least one of measuring and estimating a forward velocity vxZ of the towing vehicle; and
at least one of computationally correlating and performing a relational operation on the yaw velocity ω
Z and the forward velocity vxZ to obtain an estimated value of the transverse acceleration ayAA at the axle of the at least one of the semitrailer and the trailer.- View Dependent Claims (2, 3, 4, 5)
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6. A method for estimating a transverse acceleration ayAA at an axle of at least one of a semitrailer and a trailer of a vehicle combination, which includes a towing vehicle and the at least one of the semitrailer and trailer, the method comprising the steps of:
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at least one of measuring and estimating the forward velocity vxZ of the towing vehicle;
at least one of the measuring and estimating an articulation angle Δ
Ψ
between the towing vehicle and the at least one of the semitrailer and the trailer, the articulation angle Δ
Ψ
being between a longitudinal axis xZ of the towing vehicle and a longitudinal axis xA of the at least one of the semitrailer and the trailer;
at least one of computationally correlating performing a relational operation on a yaw velocity ω
Z of the towing vehicle and the forward velocity vxZ to obtain an estimated value of the transverse acceleration ayAA at the axle of the at least one of the semitrailer and the trailer.- View Dependent Claims (7)
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8. A device for estimating a transverse acceleration ayAA at an axle of at least one of a semitrailer and a trailer of a vehicle combination, which includes a towing vehicle and the at least one of the semitrailer and the trailer, the device comprising:
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an arrangement for at least one of measuring and estimating a yaw velocity ω
Z of the towing vehicle;
an arrangement for at least one of measuring and estimating a forward velocity vxZ of the towing vehicle; and
an arrangement for at least one of computationally correlating and performing a relational operation on the yaw velocity ω
Z and the forward velocity vxZ to obtain an estimated value of the transverse acceleration ayAA at the axle of the at least one of the semitrailer and the trailer.
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9. A method for implementing a braking action on at least one of a semitrailer and a trailer of a towing vehicle, the method comprising the steps of:
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estimating a transverse acceleration ayAA at an axle of the at least one of the semitrailer and the trailer by at least one of measuring and estimating a yaw velocity ω
Z of the towing vehicle, at least one of measuring and estimating a forward velocity vxZ of the towing vehicle, and at least one of computationally correlating and performing a relational operation on the yaw velocity ω
Z and the forward velocity vxZ to obtain an estimated value of the transverse acceleration ayAA at the axle of the at least one of the semitrailer and the trailer; and
performing the braking action as a function of the transverse acceleration ayAA at the axle of the at least one of the semitrailer and the trailer.
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Specification