Method for increasing the driving stability of a motor vehicle
First Claim
1. Method for increasing the stability of a vehicle upon acceleration on a roadway with a non-homogenous coefficient of friction, whereby a drive wheel is acted on with a braking force on a side with a low coefficient of friction by means of acceleration slip regulation, comprising:
- determining a value which corresponds to the braking force set by the means of acceleration slip regulation;
determining a disrupting yaw momentum from the determined value; and
determining a control portion of a supplemental steering angle based on the disrupting yaw momentum,wherein the control portion of the supplemental steering angle is computed by means of a control law with the form;
Δ
δ
Z=KM(v)·
{circumflex over (M)}Z,whereby Δ
δ
Z signifies the control portion of the supplemental steering angle, KM signifies an amplification factor, v signifies a reference speed of the vehicle, and {circumflex over (M)}Z signifies an estimated value for the disrupting yaw momentum.
1 Assignment
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Accused Products
Abstract
A process for increasing the stability of a vehicle upon acceleration on a roadway with a non-homogenous coefficient of friction, whereby a drive wheel is acted on by a braking force on a side with a low coefficient of friction by means of a drive slip regulation. A value (pASR) is determined which corresponds to the braking force (FB,ASR) set by the drive slip regulation (ASR). The value determined (pASR) is used for the determination of a disrupting yaw momentum (MZ), and a control portion (ΔδZ) of a supplemental steering angle (Δδ) is determined in dependence on the disrupting yaw momentum (MZ). An apparatus for the implementation of the process is also provided.
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Citations
15 Claims
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1. Method for increasing the stability of a vehicle upon acceleration on a roadway with a non-homogenous coefficient of friction, whereby a drive wheel is acted on with a braking force on a side with a low coefficient of friction by means of acceleration slip regulation, comprising:
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determining a value which corresponds to the braking force set by the means of acceleration slip regulation; determining a disrupting yaw momentum from the determined value; and determining a control portion of a supplemental steering angle based on the disrupting yaw momentum, wherein the control portion of the supplemental steering angle is computed by means of a control law with the form;
Δ
δ
Z=KM(v)·
{circumflex over (M)}Z,whereby Δ
δ
Z signifies the control portion of the supplemental steering angle, KM signifies an amplification factor, v signifies a reference speed of the vehicle, and {circumflex over (M)}Z signifies an estimated value for the disrupting yaw momentum. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. Method for increasing the stability of a vehicle upon acceleration on a roadway with a non-homogenous coefficient of friction, whereby a drive wheel is acted on with a braking force on a side with a low coefficient of friction by means of acceleration slip regulation, comprising:
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determining a value which corresponds to the braking force set by the means of acceleration slip regulation; determining a disrupting yaw momentum from the determined value; and determining a control portion of a supplemental steering angle based on the disrupting yaw momentum, wherein a regulation portion of the supplemental steering angle is determined in dependence on a standard deviation between a control value and a reference value measured by means of vehicle sensors or computed from measuring signals of vehicle sensors, and the supplemental steering angle corresponds to a sum of the regulation portion and the control portion, wherein the regulation portion of the supplemental steering angle is determined by means of a control law with the form;
Δ
δ
R=KFB,P(v)·
Δ
{dot over (ψ
)}+KFB,I(v)·
Δ
ψ
+KFB,D(v)·
Δ
{umlaut over (ψ
)}whereby, Δ
δ
R signifies the regulation portion of the supplemental steering angle, KFB,P, KFB,I and KFB,D each signify an amplification factor, v signifies the reference speed of the vehicle, Δ
{dot over (ψ
)} signifies the deviation of the yaw rates, Δ
ψ
signifies a yaw angle deviation, and Δ
{umlaut over (ψ
)} signifies a yaw acceleration deviation.
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14. Method for increasing the stability of a vehicle upon acceleration on a roadway with a non-homogenous coefficient of friction, whereby a drive wheel is acted on with a braking force on a side with a low coefficient of friction by means of acceleration slip regulation, comprising:
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determining a value which corresponds to the braking force set by the means of acceleration slip regulation; determining a disrupting yaw momentum from the determined value; and determining a control portion of a supplemental steering angle based on the disrupting yaw momentum, wherein a regulation portion of the supplemental steering angle is determined in dependence on a standard deviation between a control value and a reference value measured by means of vehicle sensors or computed from measuring signals of vehicle sensors, and the supplemental steering angle corresponds to a sum of the regulation portion and the control portion, wherein the regulation portion of the supplemental steering angle is determined in dependence on a side-slip angle deviation between an estimated side-slip angle of the vehicle and a reference side-slip angle, whereby the reference side-slip angle is preset by a threshold value.
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15. An apparatus for increasing the stability of a vehicle in an acceleration on a roadway with a non-homogenous coefficient of friction, comprising:
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a control means for the implementation of a drive slip regulation, which controls the influencing of a drive wheel on a side with a low coefficient of friction by a braking force; a determination unit for determining a value which corresponds to the braking force set by the control means; and an estimation unit for estimating a disrupting yaw momentum with consultation of the determined value; whereby a control unit determines a control portion of a supplemental steering angle in dependence on the estimated disrupting yaw momentum, wherein a regulation portion of the supplemental steering angle is determined in dependence on a standard deviation between a control value and a reference value measured by means of vehicle sensors or computed from measuring signals of vehicle sensors, and the supplemental steering angle corresponds to a sum of the regulation portion and the control portion, wherein the regulation portion of the supplemental steering angle is determined in dependence on a lateral acceleration deviation between a measured lateral acceleration of the vehicle and a reference lateral acceleration, whereby the reference lateral acceleration is preset by a threshold value.
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Specification