Method for stabilizing the driving state of a utility vehicle combination
First Claim
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1. A method of stabilizing a driving condition of a vehicle combination including a towing vehicle and a towed vehicle, the method comprising the acts of:
- a) monitoring whether a braking intervention is taking place at the towed vehicle;
b) sensing one or more driving condition quantities characterizing a momentary stability of the vehicle combination, wherein, using a defined mathematical-physical vehicle model, an approximate articulation angle between the towing vehicle and the towed vehicle is determined and compared with a desired articulation angle, which desired articulation angle is determined as a function of a momentary driving condition and characterizes a stable driving condition;
c) determining whether an unstable driving condition is present or imminent based on the momentary stability by determining coefficients of friction which describe an actual or threatened instability; and
d) modulating braking torques at wheels of the towed vehicle when an unstable driving condition is detected in step c) during a braking intervention by varying brake pressure of the towed vehicle in a clocked or cyclical manner by repeatedly inserting short phases having no brake pressure or only a slight brake pressure, wherein the braking torques at the towed vehicle wheels are modulated as a function of the determined coefficients of friction with respect to their amplitude and their time response.
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Abstract
According to the invention, the driving stability of a utility vehicle combination, which is comprised of a towing vehicle and of a towed vehicle, is monitored (3-5) when the towed vehicle is braked. In the event of an unstable driving state, the vehicle combination is stabilized by effecting a cyclic or clocked reduction of the towed vehicle brake pressure (6).
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10 Claims
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1. A method of stabilizing a driving condition of a vehicle combination including a towing vehicle and a towed vehicle, the method comprising the acts of:
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a) monitoring whether a braking intervention is taking place at the towed vehicle; b) sensing one or more driving condition quantities characterizing a momentary stability of the vehicle combination, wherein, using a defined mathematical-physical vehicle model, an approximate articulation angle between the towing vehicle and the towed vehicle is determined and compared with a desired articulation angle, which desired articulation angle is determined as a function of a momentary driving condition and characterizes a stable driving condition; c) determining whether an unstable driving condition is present or imminent based on the momentary stability by determining coefficients of friction which describe an actual or threatened instability; and d) modulating braking torques at wheels of the towed vehicle when an unstable driving condition is detected in step c) during a braking intervention by varying brake pressure of the towed vehicle in a clocked or cyclical manner by repeatedly inserting short phases having no brake pressure or only a slight brake pressure, wherein the braking torques at the towed vehicle wheels are modulated as a function of the determined coefficients of friction with respect to their amplitude and their time response. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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Specification