Method for controlling driving stability

• US 8,395,491 B2
• Filed: 06/10/2002
• Issued: 03/12/2013
• Est. Priority Date: 06/13/2001
• Status: Expired due to Term

• Current Assignee: Continental Teves AG & Co. OHG (Continental AG)
• Original Assignee: Continental Teves AG & Co. OHG (Continental AG)
• Inventors: Schafiyha, Schahrad, Raulfs, Henning, Kmmel, Martin
• Primary Examiner(s): Nguyen, Hung T.
• Application Number:
  US10/480,554
• Publication Number:
  US 20040215384A1
• Time in Patent Office: 3,928 Days
• Field of Search: 340/439, 340/436, 340/437, 340/438, 340/440, 340/905, 340/988, 340/441, 701/41, 701/42, 701/48, 701/36, 180/421, 180/422, 180/443, 180/446
• US Class Current: 340/439
• CPC Class Codes: B60K 28/16 responsive to, or preventing, skidding of wheels brake control systems for vehicle drive stability B60T8/1755; arrangements responsive to a speed condition for adjusting wheel braking force B60T8/32; control of vehicle driving stability otherwise than by controlling the propulsion unit only B60W30/02; preventing wheel slippage by reducing power in rail vehicles B61C15/00
• CPC Class Codes: B60K 31/0075 responsive to vehicle steering angle
• CPC Class Codes: B60K 31/0083 responsive to centrifugal force acting on vehicle due to the path it is following
• CPC Class Codes: B60K 31/047 the memory being digital
• CPC Class Codes: B60K 31/107 the memory being digital
• CPC Class Codes: B60T 8/1755 Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02
• CPC Class Codes: B60W 2050/0031 Mathematical model of the vehicle
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 30/02 Control of vehicle driving stability

Abstract

The present invention relates to a method for controlling driving stability of a vehicle wherein a number of input variables are used to control the driving speed of the vehicle to a limit speed. In order to prevent unstable driving conditions in a pre-controlled manner, a model-based stable limit speed of the vehicle is determined on the basis of measured variables that are detected by means of detection devices and represent the current steering angle and the current lateral acceleration, by including other quantities of the vehicle and/or the driving situation, and the driving speed is compared to the model-based stable limit speed of the vehicle, and based on the comparison result, the driving speed is adapted to the limit speed when the driving speed exceeds the limit speed.

Claims

1. Method for controlling driving stability of a vehicle, comprising:

establishing by means of detection devices a current steering angle and a current lateral acceleration;

determining a model-based stable limit speed of the vehicle, wherein the model-based stable limit speed is determined based on the current steering angle and the current lateral acceleration wherein a driving speed is compared to the model-based stable limit speed of the vehicle, and based on a result of comparison, the driving speed is adapted to the limit speed when the driving speed exceeds the limit speed; and

wherein the model-based stable limit speed is determined according to the recursive relation

2. Method as claimed in claim 1, further including the step of:

conducting a brake intervention or engine intervention according to the difference between the driving speed and the limit speed.

3. Method as claimed in claim 1, wherein the tolerated steering angle deviation is determined according to the lateral acceleration and the driving speed.

4. Method as claimed in claim 1, further including the step of:

terminating the control of the driving speed towards the limit speed when a driving speed desired by the driver is determined which lies below the model-based stable limit speed.

5. Method as claimed in claim 1, further including the step of:

determining the lateral inclination of the vehicle or the roadway with respect to the horizontal plane, and computing the tolerated steering angle deviation in dependence on the determined lateral inclination.

6. Method as claimed in claim 5, further including the step of:

increasing the steering angle deviation tolerated in driving situations with an increased traction requirement.

7. Driving stability control system for a vehicle, comprising:

a control device for controlling the vehicle speed;

a steering angle detection device for detecting a steering angle of a steering wheel of the vehicle;

a lateral acceleration detection device for determining a lateral acceleration of the vehicle;

a computing device for computing a stable limit speed from the determined quantities steering angle of the steering wheel and lateral acceleration of the vehicle;

a speed detection device for detecting a current vehicle speed, wherein said control device controls the vehicle speed to a calculated stable limit speed whenever the vehicle speed exceeds the stable limit speed; and

wherein the computing devise determines the stable limit speed according to the recursive relation

8. Driving stability control as claimed in claim 7, wherein the control device controls the vehicle speed so that it does not exceed the stable limit speed by means of brake intervention or by intervention into the engine driving torque.

9. Driving stability control as claimed in claim 8, wherein the brake or engine intervention is terminated as soon as the vehicle speed desired by the driver lies below the stable limit speed.

10. Driving stability control as claimed in claim 7, further including a lateral inclination detection device for determining a lateral inclination of the roadway which information is in turn used by the computing device to alter the steering angle deviation tolerated in dependence on the determined lateral inclination.

11. Driving stability control as claimed in claim 7, further including a determining unit for determining the traction of the vehicle wherein the computing device uses this information to alter the steering angle deviation tolerated.