System and method for stabilizing a motor vehicle

• US 8,645,025 B2
• Filed: 08/15/2008
• Issued: 02/04/2014
• Est. Priority Date: 08/16/2007
• Status: Active Grant

• Current Assignee: Continental Teves AG & Co. OHG (Continental AG)
• Original Assignee: Continental Teves AG & Co. OHG (Continental AG)
• Inventors: Groitzsch, Stephan, Enders, Hans Christian, Schreiner, Otmar, Steinmeier, Frank, Fischer, Daniel, Stlzl, Stefan
• Primary Examiner(s): MARC-COLEMAN, MARTHE Y
• Application Number:
  US12/673,539
• Publication Number:
  US 20120072073A1
• Time in Patent Office: 1,999 Days
• Field of Search: 701/82, 701/41, 701/70, 701/1, 701/124, 701/45, 701/71, 701/79, 701/29.1, 180/197, 303/139, 303/163, 303/146, 303/113.1, 303/113.2, 73/650.7, 73/650.1
• US Class Current: 701/41
• CPC Class Codes: B60T 2210/36 Global Positioning System [GPS]
• CPC Class Codes: B60T 2230/02 Side slip angle, attitude angle, floating angle, drift angle
• CPC Class Codes: B60T 2270/313 with less than three sensors (yaw rate, steering angle, lateral acceleration)
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence
• CPC Class Codes: B60T 8/17552 responsive to the tire sideslip angle or the vehicle body slip angle

Abstract

A system and method for stabilizing a motor vehicle. The system includes a speed sensor for sensing a longitudinal speed and a transversal speed of the motor vehicle. The system also includes a calculation unit designed to calculate an attitude angle of the motor vehicle from the longitudinal speed and the transversal speed. The system also includes an evaluation unit designed to compare the attitude angle with a threshold value and to detect an oversteering situation if the attitude angle exceeds the threshold value. The system also includes an actuation unit which influences the driving behavior of the motor vehicle. The actuation unit is designed to actuate an actuator in an oversteering situation.

Claims

1. A system for stabilizing a motor vehicle comprising:

at least one optical speed sensor for sensing a longitudinal speed and a transversal speed of the motor vehicle, by evaluating light which is reflected on a roadway surface on which the motor vehicle is moving during operation;

a steering angle sensor for sensing a wheel lock angle of the motor vehicle;

a calculation unit which is configured to calculate an attitude angle of the motor vehicle from a sensed longitudinal speed and a sensed transversal speed;

an evaluation unit which is coupled to the calculation unit and is configured to compare the attitude angle with a predefined attitude angle threshold value, and compare the wheel lock angle to a predefined wheel angle threshold,

wherein an oversteering situation is detected when the attitude angle is greater than the predefined attitude angle threshold, and

wherein an understeering situation is detected when the attitude angle is less than the predefined attitude angle threshold and the wheel lock angle is greater than the wheel angle threshold; and

an actuation unit which is coupled to the evaluation unit, and an actuator including a hydraulic unit which influences a driving behavior of the motor vehicle,

wherein the actuation unit is configured to control the hydraulic unit in accordance to the attitude angle in the detected oversteering situation, and

wherein, in the detected understeering situation, the actuation unit is configured to control at least one of;

     1) the hydraulic unit in accordance to the attitude angle, and

     2) a drive engine of the motor vehicle in accordance to the attitude angle, such that at least one of a speed and acceleration of the motor vehicle are reduced.

2. The system as claimed in claim 1, wherein the speed sensor comprises a position-determining system, and wherein at least one of the vehicle transversal speed and the vehicle longitudinal speed are determined by tracking a position of the motor vehicle by the position-determining system.

3. The system as claimed in claim 1, wherein the actuator is configured to apply a braking force to a front wheel of the motor vehicle on a basis of an actuation by the actuation unit in an oversteering situation.

4. The system as claimed in claim 1 wherein the vehicle transversal speed and the vehicle longitudinal speed are the only vehicle movement dynamics variables which can be sensed.

5. The system as claimed in claim 1, also comprising a steering angle sensor for sensing a wheel lock angle which is set at steerable wheels of the motor vehicle, and a further evaluation unit which is configured to detect an understeering situation on a basis of the attitude angle and of the wheel lock angle.

6. The system as claimed in claim 5, wherein the further evaluation unit is configured to detect an understeering situation if an attitude angle which has been acquired in accordance with the wheel lock angle is larger than a calculated attitude angle by a predefined absolute value.

7. The system as claimed in claim 1, wherein the actuator is configured to apply a braking force to a rear wheel of the motor vehicle on a basis of actuation by the actuation unit in an understeering situation.

8. The system as claimed in claim 1, wherein the actuator is configured in such a way that it can apply a braking force exclusively to front wheels of the motor vehicle.

9. A method for stabilizing a motor vehicle, comprising the following steps:

sensing, by at least one optical speed sensor, a longitudinal speed and a transversal speed of the motor vehicle;

sensing, by a steering angle sensor, a wheel lock angle of the motor vehicle;

calculating, by at least one processor, an attitude angle of the motor vehicle from the sensed vehicle longitudinal speed and the sensed vehicle transversal speed;

comparing, by the at least one processor, the attitude angle with a predefined attitude angle threshold value;

comparing, by the at least one processor, the wheel lock angle to a predefined wheel angle threshold;

detecting an oversteering situation when the attitude angle is greater than the predefined attitude angle threshold;

detecting an understeering situation when the attitude angle is less than the predefined attitude angle threshold and the wheel lock angle is greater than the wheel angle threshold;

actuating at least one hydraulic actuator device in accordance with the attitude angle in order to influence the driving behavior of the motor vehicle once an oversteering situation is detected; and

actuating, in accordance with the attitude angle in order to influence the driving behavior of the motor vehicle once an oversteering situation is detected, at least one of;

     1) the hydraulic actuator, and

     2) a drive engine of the motor vehicle, such that at least one of a speed and acceleration of the motor vehicle are reduced.