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Method for controlling yaw and transversal dynamics in a road vehicle

  • US 6,909,957 B2
  • Filed: 08/15/2001
  • Issued: 06/21/2005
  • Est. Priority Date: 08/16/2000
  • Status: Expired due to Term
First Claim
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1. A methodfor controlling yaw dynamics and lateral dynamics in a road vehicle having a first axle and a second axle comprising;

  • determining a desired steer angle;

    calculating a desired front axle value signal for input to a first controller;

    calculating a desired rear axle value signal for input to a second controller;

    generating a first drive signal via said first controller for driving an electrically drivable front steer-angle actuator;

    generating a second drive signal via said second controller for driving an electrically drivable rear steer-angle actuator;

    determining a desired value Svsoll for a lateral force Sv to be built up at said front axle in a control process in a control loop assigned to said front axle;

    determining for said desired value Svsoll a desired value δ

    vsoll of a front axle steering angle by a relationship of a form δ

    vsoll
    =-β

    +lv·

    Ψ

    .
    vx
    +α

    vsoll
    ,


    wherein lv being a distance from a center of gravity of said vehicle to said front axle, β

    being a sideslip angle, {dot over (Ψ

    )} being a yaw velocity, α

    vsoll being a desired value of a slip angle at said front axle, and Vx being a longitudinal speed of said road vehicle;

    determining a desired value Shsoll for a lateral force Sh to be built up at said rear axle in a control process by a relationship of a form Shsoll=lv·

    m·

    vx
    L
    ·

    [Ψ

    .
    -β

    .
    hsoll
    +k1·

    (β

    h
    -β



    -hsoll
    )
    ]


    in a control loop assigned to said rear axle, wherein m being a mass of said vehicle, L being a wheelbase of said vehicle, β

    hsoll being a desired slideslip angle of said vehicle in a region of said rear axle, and β

    h being a slideslip angle of said vehicle in said region of said rear axle, and β

    h being a first controller gain; and

    determining for said desired value Shsoll a value of a rear axle steering angle δ

    hsoll by a relationship of a form δ

    hsoll
    =-β

    -lh·

    Ψ

    .
    vx
    +α

    hsoll
    .

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