Method and apparatus for affecting cornering performance of a motor vehicle, and a motor vehicle

• US 9,193,381 B2
• Filed: 02/09/2012
• Issued: 11/24/2015
• Est. Priority Date: 02/10/2011
• Status: Active Grant

• Current Assignee: Audi AG (Volkswagen AG)
• Original Assignee: Audi AG (Volkswagen AG)
• Inventors: Br, Michael, Meitinger, Karl-Heinz
• Primary Examiner(s): Cheung, Calvin
• Assistant Examiner(s): WEEKS, MARTIN A
• Application Number:
  US13/369,815
• Publication Number:
  US 20130041545A1
• Time in Patent Office: 1,384 Days
• Field of Search: 701/1, 701/23, 701/38, 701/41, 180/282
• US Class Current: 1/1
• CPC Class Codes: B60G 17/0162 mainly during a motion involving steering operation, e.g. cornering, overtaking B60G17/0164 takes precedence
• CPC Class Codes: B60G 17/0195 characterised by the regulation being combined with other vehicle control systems conjoint control of vehicle sub-units including control of suspension systems B60W10/22
• CPC Class Codes: B60G 2400/104 lateral or transversal with regard to vehicle
• CPC Class Codes: B60G 2500/10 Damping action or damper
• CPC Class Codes: B60G 2500/40 Steering
• CPC Class Codes: B60G 2800/9123 Active Body Control [ABC]
• CPC Class Codes: B60G 2800/96 ASC - Assisted or power Steering control
• CPC Class Codes: B62D 6/003 in order to control vehicle yaw movement, i.e. around a vertical axis B62D6/007 takes precedence
• CPC Class Codes: B62D 6/06 responsive only to vehicle vibration dampening arrangements steering dampers for cycles B62K21/08

Abstract

In a method and an apparatus for affecting the cornering performance of a motor vehicle, a transverse acceleration of the motor vehicle is determined, a desired transverse tilt of the motor vehicle defined based on the determined transverse acceleration, at least one actuator of an active suspension system of the motor vehicle is adjusted so that the motor vehicle assumes the desired transverse tilt, and an additional actuator intervening in the steering system of the motor vehicle. A yaw movement of the motor vehicle caused by the adjustment of the at least one actuator of the active suspension system is at least partially compensated by the additional actuator.

Claims

1. A method for affecting a cornering performance of a motor vehicle, the method comprising the steps of:

a) determining a transverse acceleration of the motor vehicle based on a signal received from at least one sensor installed on the motor vehicle;

b) defining a desired transverse tilt of the motor vehicle as a function of the transverse acceleration determined at step a);

c) adjusting with an Active Body Control (ABC) device at least one actuator of an active suspension system of the motor vehicle, so that the motor vehicle assumes the desired transverse tilt determined at step b); and

d) adjusting with the Active Body Control (ABC) device at least one additional actuator, which intervenes in a steering system of the motor vehicle, by superimposing on a first steering angle used for steering the motor vehicle a superimposed steering angle to produce a combined steering angle so that a radius of curvature of a trajectory of the motor vehicle, when steered with the combined steering angle, corresponds substantially to the radius of curvature of the trajectory of the motor vehicle that would have resulted when the motor vehicle was steered with the first steering angle, thereby at least partially compensating a yaw movement of the motor vehicle caused by the adjustment of the at least one actuator of the active suspension system,

wherein a suitable superimposed steering angle is predefined for all possible actively adjustable values of the desired transverse tilt,

wherein at step a) a future transverse acceleration of the motor vehicle is determined by a device for automatic roadway preview, and

wherein at step b) the desired transverse tilt of the motor vehicle is determined by the device for automatic roadway preview.

2. The method of claim 1, wherein the first steering angle is at least partially defined by a vehicle operator.

3. The method of claim 1, wherein the first steering angle is at least partially defined by a device for semiautomatic vehicle guidance.

4. The method of claim 1, wherein the first steering angle is at least partially defined by a lane assist device.

5. The method of claim 1, wherein at step d), the at least one additional actuator is adjusted depending on the defined desired transverse tilt or on the transverse tilt adjusted at step c).

7. The method of claim 1, wherein the device for automatic roadway preview determines the future transverse acceleration based at least one feature selected from the group consisting of a speed of the motor vehicle, data relating to a course of the roadway, data relating to a roadway inclination, and a function for look-ahead longitudinal and transverse guidance.

8. The method of claim 1, wherein the at least one actuator used for adjusting the transverse tilt of the motor vehicle at step c) is arranged in an active stabilizer of the motor vehicle.

6. A method for affecting a cornering performance of a motor vehicle, the method comprising the steps of:

a) determining a transverse acceleration of the motor vehicle based on a signal received from at least one sensor installed on the motor vehicle;

b) defining a desired transverse tilt of the motor vehicle as a function of the transverse acceleration determined at step a);

c) adjusting with an Active Body Control (ABC) device at least one actuator of an active suspension system of the motor vehicle, so that the motor vehicle assumes the desired transverse tilt determined at step b); and

d) adjusting with the Active Body Control (ABC) device at least one additional actuator, which intervenes in a steering system of the motor vehicle, by superimposing on a first steering angle used for steering the motor vehicle a superimposed steering angle to produce a combined steering angle so that a radius of curvature of a trajectory of the motor vehicle, when steered with the combined steering angle, corresponds substantially to the radius of curvature of the trajectory of the motor vehicle that would have resulted when the motor vehicle was steered with the first steering angle, thereby, at least partially compensating a yaw movement of the motor vehicle caused by the adjustment of the at least one actuator of the active suspension system,

wherein at step a) a future transverse acceleration of the motor vehicle is determined by a device for automatic roadway preview,

wherein at step b) the desired transverse tilt of the motor vehicle is determined by the device for automatic roadway preview, and

wherein the superimposed angle is determined from the desired transverse tilt or from the transverse tilt adjusted at step c) with at least one of a mathematical function and a characteristic curve.

11. The method of claim 6, wherein the first steering angle is at least partially defined by a vehicle operator.

12. The method of claim 6, wherein the first steering angle is at least partially defined by a device for semi-automatic vehicle guidance.

13. The method of claim 6, wherein the first steering angle is at least partially defined by a lane assist device.

14. The method of claim 6, wherein at step d), the at least one additional actuator is adjusted depending on the defined desired transverse tilt or on the transverse tilt adjusted at step c).

15. The method of claim 6, wherein the device for automatic roadway preview determines the future transverse acceleration based at least one feature selected from the group consisting of a speed of the motor vehicle, data relating to a course of the roadway, data relating to a roadway inclination, and a function for look-ahead longitudinal and transverse guidance.

16. The method of claim 6, wherein the at least one actuator used for adjusting the transverse tilt of the motor vehicle at step c) is arranged in an active stabilizer of the motor vehicle.

9. An apparatus for affecting cornering performance of a motor vehicle, comprising:

a determination device configured to determine a transverse acceleration of the motor vehicle and to define a desired transverse tilt of the motor vehicle as a function of the determined transverse acceleration;

at least one actuator of an active suspension system of the motor vehicle, said at least one actuator coupled with the determination device and operating to adjust a transverse tilt of the motor vehicle so that the adjusted transverse tilt corresponds to the desired transverse tilt defined by the determination device; and

at least one additional actuator coupled with the determination device and controlled by an Active Body Control (ABC) device configured to cause an intervention in a steering system of the motor vehicle by superimposing on a first steering angle used for steering the motor vehicle a superimposed steering angle to produce a combined steering angle so that a radius of curvature of a trajectory of the motor vehicle, when steered with the combined steering angle, corresponds substantially to the radius of curvature of the trajectory of the motor vehicle that would have resulted when the motor vehicle was steered with the first steering angle, said intervention at least partially compensating a yaw movement of the motor vehicle caused by operating the at least one actuator,

wherein a suitable superimposed steering angle is predefined for all possible actively adjustable values of the desired transverse tilt,

wherein a future transverse acceleration of the motor vehicle is determined by a device for automatic roadway preview installed in the motor vehicle, and the desired transverse tilt of the motor vehicle is determined by the device for automatic roadway preview.

10. A motor vehicle comprising an apparatus, the apparatus comprising:

a determination device configured to determine a transverse acceleration of the motor vehicle and to define a desired transverse tilt of the motor vehicle as a function of the determined transverse acceleration;

at least one actuator of an active suspension system of the motor vehicle, said at least one actuator coupled with the determination device and operating to adjust a transverse tilt of the motor vehicle so that the adjusted transverse tilt corresponds to the desired transverse tilt defined by the determination device; and

at least one additional actuator coupled with the determination device and controlled by an Active Body Control (ABC) device configured to cause an intervention in a steering system of the motor vehicle by superimposing on a first steering angle used for steering the motor vehicle a superimposed steering angle to produce a combined steering angle so that a radius of curvature of a trajectory of the motor vehicle, when steered with the combined steering angle, corresponds substantially to the radius of curvature of the trajectory of the motor vehicle that would have resulted when the motor vehicle was steered with the first steering angle, said intervention at least partially compensating a yaw movement of the motor vehicle caused by operating the at least one actuator,

wherein a suitable superimposed steering angle is predefined for all possible actively adjustable values of the desired transverse tilt,

wherein a future transverse acceleration of the motor vehicle is determined by a device for automatic roadway preview installed in the motor vehicle, and the desired transverse tilt of the motor vehicle is determined by the device for automatic roadway preview.