Motor vehicle driver assisting method near the stability limit
First Claim
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1. A method for assisting a driver of a motor vehicle comprising the steps of:
- monitoring a first quantity selected among at least one of vehicle sideslip, yaw rate error, or an understeer and a second quantity correlated to vehicle sideslip, yaw rate error or the understeer;
deciding that there is a risk of the vehicle becoming unstable if the first quantity or the second quantity or a third quantity derived from at least one of the first quantity or the second quantity exceeds a first threshold; and
issuing a warning signal if it is decided that there is the risk;
wherein the step of deciding comprises normalizing the first quantity, the second quantity, or the third quantity in relation to a reference value and deriving a fourth quantity for comparison to said first threshold from at least two of a normalized first quantity, second quantity or third quantity.
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Abstract
A method for assisting a driver of a motor vehicle is provided that includes, but is not limited to monitoring at least one quantity selected among vehicle sideslip, yaw rate error, understeer and quantities correlated to vehicle sideslip, yaw rate error or understeer, deciding that there is a risk of the vehicle becoming unstable if any of the monitored quantities or a quantity derived from one or more of the monitored quantities exceeds a predetermined first threshold, and if it is decided that there is a risk, issuing a warning signal.
7 Citations
15 Claims
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1. A method for assisting a driver of a motor vehicle comprising the steps of:
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monitoring a first quantity selected among at least one of vehicle sideslip, yaw rate error, or an understeer and a second quantity correlated to vehicle sideslip, yaw rate error or the understeer; deciding that there is a risk of the vehicle becoming unstable if the first quantity or the second quantity or a third quantity derived from at least one of the first quantity or the second quantity exceeds a first threshold; and issuing a warning signal if it is decided that there is the risk; wherein the step of deciding comprises normalizing the first quantity, the second quantity, or the third quantity in relation to a reference value and deriving a fourth quantity for comparison to said first threshold from at least two of a normalized first quantity, second quantity or third quantity. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A method for assisting a driver of a motor vehicle comprising the steps of:
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monitoring a first quantity selected among at least one of vehicle sideslip, yaw rate error, or an understeer and a second quantity correlated to vehicle sideslip, yaw rate error or the understeer; deciding that there is a risk of the vehicle becoming unstable if the first quantity or the second quantity or a third quantity derived from at least one of the first quantity or the second quantity exceeds a first threshold; issuing a warning signal if it is decided that there is the risk; judging whether the vehicle is moving in a substantially straight line; and setting at least the first threshold higher than if the vehicle is not judged to be driving in the substantially straight line.
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15. A method for assisting a driver of a motor vehicle comprising the steps of:
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monitoring a first quantity selected among at least one of vehicle sideslip, yaw rate error, or an understeer and a second quantity correlated to vehicle sideslip, yaw rate error or the understeer; deciding that there is a risk of the vehicle becoming unstable if the first quantity or the second quantity or a third quantity derived from at least one of the first quantity or the second quantity exceeds a first threshold; issuing a warning signal if it is decided that there is the risk; monitoring a time derivative of a steering wheel angle of the vehicle, and based on the step of deciding, understeering only if an amount or a frequency of change of a sign of the time derivative is below a predetermined threshold.
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Specification