Method and control system for stabilizing a vehicle
First Claim
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1. A method for stabilizing a vehicle, wherein a control method is used to determine correcting variables for activating at least one actuator, by means of which a driving performance of the vehicle can be influenced, the method comprising the steps of:
- determining that a first predetermined driving situation prevails,counting a number of learning cycles of determining that the first predetermined driving situation prevails;
changing a criterion of the first predetermined driving situation depending on the number of learning cycles, the criterion being more narrowly restricted with a rising number of learning cycles;
determining a balance of forces acting on the vehicle;
determining a vehicle mass based on the balance of forces;
determining a load condition of the vehicle based on the vehicle mass;
determining, based on the load condition, an activation threshold of a dynamic control variable pertaining to a vehicle behavior;
determining that the control variable has exceeded the activation threshold; and
activating actuators influencing the control variable in a direction toward reducing the control variable to a value smaller than the activation threshold.
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Abstract
A method of stabilizing a vehicle, in particular for stabilizing the vehicle with respect to tilting movements, to the load condition of the vehicle, performs a control depending on a load condition of the vehicle, and the load condition of the vehicle is determined by way of a vehicle mass that is established due to a balance of forces that act on the vehicle, and/or by way of a characteristic speed of the vehicle.
9 Citations
12 Claims
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1. A method for stabilizing a vehicle, wherein a control method is used to determine correcting variables for activating at least one actuator, by means of which a driving performance of the vehicle can be influenced, the method comprising the steps of:
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determining that a first predetermined driving situation prevails, counting a number of learning cycles of determining that the first predetermined driving situation prevails; changing a criterion of the first predetermined driving situation depending on the number of learning cycles, the criterion being more narrowly restricted with a rising number of learning cycles; determining a balance of forces acting on the vehicle; determining a vehicle mass based on the balance of forces; determining a load condition of the vehicle based on the vehicle mass; determining, based on the load condition, an activation threshold of a dynamic control variable pertaining to a vehicle behavior; determining that the control variable has exceeded the activation threshold; and activating actuators influencing the control variable in a direction toward reducing the control variable to a value smaller than the activation threshold. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method for stabilizing a vehicle, wherein a control method is used to determine correcting variables for activating at least one actuator, by means of which a driving performance of the vehicle can be influenced, the method comprising the steps of:
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determining that a first predetermined driving situation prevails; counting a number of learning cycles of determining that the first predetermined driving situation prevails; changing a criterion of the first predetermined driving situation depending on the number of learning cycles; determining a balance of forces acting on the vehicle; determining a vehicle mass based on the balance of forces by way of a learning algorithm including the substeps of; establishing individual instantaneous assessed values for the vehicle mass at different points in time in the number of learning cycles; and determining the vehicle mass from calculating an average of a current instantaneous assessed value with a previously determined vehicle mass by weighting the current instantaneous assessed value of the vehicle mass with a smaller weighting factor than a weighting factor applied to the previously determined vehicle mass for calculating the average, the weighting factors having a ratio that depends on the number of the learning cycles; determining a load condition of the vehicle based on the vehicle mass, determining, based on the load condition, an activation threshold of a dynamic control variable pertaining to a vehicle behavior; determining that the control variable has exceeded the activation threshold; and activating actuators influencing the control variable in a direction toward reducing the control variable to a value smaller than the activation threshold.
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10. A method for stabilizing a vehicle, wherein a control method is used to determine correcting variables for activating at least one actuator, by means of which a driving performance of the vehicle can be influenced, the method comprising the steps of:
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determining that a first predetermined driving situation prevails; determining a balance of forces acting on the vehicle; determining a vehicle mass based on the balance of forces; determining a load condition of the vehicle based on the vehicle mass; determining, based on the load condition, an activation threshold of a dynamic control variable pertaining to a vehicle behavior; determining that the control variable has exceeded the activation threshold; activating actuators influencing the control variable in a direction toward reducing the control variable to a value lower than the activation threshold; determining that a second driving situation prevail; and establishing a characteristic speed by means of the equation - View Dependent Claims (11, 12)
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Specification