Method for stabilizing a vehicle combination
First Claim
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1. A method for stabilizing a vehicle-trailer combination which includes a towing vehicle and a trailer, the method comprising:
- determining an actual value of at least one state variable describing a corresponding state of the vehicle, the trailer or the vehicle-trailer combination, said at least one state variable including at least one process variable which describes a state of the trailer or at least one other process variable from which the state of the trailer can be derived;
comparing said actual value of said at least one state variable with a nominal value of said at least one state variable corresponding thereto;
producing a correcting variable based on said comparing; and
causing said correcting variable to act upon a steering actuator for changing a relevant setting thereof based on said comparing and adjusting a wheel steering angle accordingly at least at one steerable wheel of the vehicle-trailer combination.
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Abstract
A method of stabilizing a vehicle combination including a towing vehicle and a trailer, includes determining at least one vehicle state variable describing the state of the vehicle from a comparison with an assigned nominal value. A correcting variable is produced, which is supplied to an actuator in the vehicle. The correcting variable acts upon a steering actuator in order to adjust the wheel steering angle.
77 Citations
20 Claims
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1. A method for stabilizing a vehicle-trailer combination which includes a towing vehicle and a trailer, the method comprising:
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determining an actual value of at least one state variable describing a corresponding state of the vehicle, the trailer or the vehicle-trailer combination, said at least one state variable including at least one process variable which describes a state of the trailer or at least one other process variable from which the state of the trailer can be derived; comparing said actual value of said at least one state variable with a nominal value of said at least one state variable corresponding thereto; producing a correcting variable based on said comparing; and causing said correcting variable to act upon a steering actuator for changing a relevant setting thereof based on said comparing and adjusting a wheel steering angle accordingly at least at one steerable wheel of the vehicle-trailer combination. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A method for stabilizing a vehicle-trailer combination which includes a towing vehicle and a trailer, the method comprising:
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determining an actual value of at least one state variable comprising at least one process variable from which transverse dynamics of at least one of the trailer or the vehicle-trailer combination can be inferred; comparing said actual value of said at least one state variable with a corresponding nominal value of said at least one state variable; producing a correcting variable based on said comparing; and adjusting a wheel steering angle of at least one steerable wheel of the vehicle-trailer combination based upon said correcting variable. - View Dependent Claims (17, 18, 19, 20)
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Specification