Method and apparatus for operating a vehicle
First Claim
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1. A method for operating a vehicle having a plurality of wheels and wheel sensors which are associated with said wheels and whose measurement signals are representative of angular speeds of the respective wheels, the method comprising:
- registering respective characteristic values for the angular speed of the respective wheel depending on the respective measurement signals,transforming the characteristic values in a common reference coordinates system of the vehicle depending on at least one of steering angle or yaw rate,determining a common reference value depending on the transformed characteristic values,determining respective intermediate scaling values depending on the respective ratio of the transformed characteristic values and the reference value,adapting respective scaling values depending on the intermediate scaling values when a predefined condition, which is dependent upon at least one of the yaw rate and upon the steering angle, is met.
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Abstract
In a method for operating a vehicle (1) having a plurality of wheels (3) and wheel sensors (5) which are associated with said wheels and whose measurement signals are representative of angular speeds of the respective wheels (3), respective scaling values (SV1, SV2, SH1, SH2) are adapted when a predefined condition is met, the condition depending on the yaw rate (GR) of the vehicle and/or on the steering angle (LW) of the front/rear wheels.
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Citations
20 Claims
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1. A method for operating a vehicle having a plurality of wheels and wheel sensors which are associated with said wheels and whose measurement signals are representative of angular speeds of the respective wheels, the method comprising:
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registering respective characteristic values for the angular speed of the respective wheel depending on the respective measurement signals, transforming the characteristic values in a common reference coordinates system of the vehicle depending on at least one of steering angle or yaw rate, determining a common reference value depending on the transformed characteristic values, determining respective intermediate scaling values depending on the respective ratio of the transformed characteristic values and the reference value, adapting respective scaling values depending on the intermediate scaling values when a predefined condition, which is dependent upon at least one of the yaw rate and upon the steering angle, is met. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. An apparatus for operating a vehicle having a plurality of wheels and wheel sensors which are associated with said wheels and whose measurement signals are representative of angular speeds of the respective wheels, said apparatus being operable
to register respective characteristic values for the angular speed of the respective wheel depending on the respective measurement signals, to transform the characteristic values into a common reference coordinates system of the vehicle depending on at least one of steering angle or yaw rate, to determine a common reference value depending on the transformed characteristic values, to determine respective intermediate scaling values depending on the respective ratio of the transformed characteristic values and of the reference value, and to adapt respective scaling values depending on the intermediate scaling values when a predefined condition is met, said condition being dependent upon the yaw rate and/or the steering angle LW.
Specification