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Controller for a motor vehicle, motor vehicle, and method for configuring the controller

  • US 9,630,600 B2
  • Filed: 12/06/2012
  • Issued: 04/25/2017
  • Est. Priority Date: 12/16/2011
  • Status: Active Grant
First Claim
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1. A controller for a motor vehicle, comprisingan observer device comprising a single-track model of the motor vehicle and a Kalman filter and having a signal input receiving at least one sensor signal from a sensor of the motor vehicle, wherein the at least one sensor signal indicates a yaw rate and a lateral acceleration of the vehicle, said observer device configured to determine, as a function of the at least one received sensor signal, at least one estimated value of a cornering stiffness and an estimated value of a side slip angle of the motor vehicle, said observer device further configured to supply the at least one estimated value of the cornering stiffness and the estimated value of the side slip angle to a signal output of the observer device,wherein a parameter value of at least one of a measurement noise and a process noise of the observer device is set to a predetermined constant value,wherein for determining the at least one estimated value of the cornering stiffness and the estimated value of the side slip angle, the observer device is configured to set a value of at least one cornering stiffness parameter of the single-track model as a function of the at least one received sensor signal by controllably adjusting the value of the at least one cornering stiffness parameter by means of the Kalman filter until output variables “

  • yaw rate” and



    lateral acceleration”

    of the single-track model agree with the actually present values for the yaw rate and lateral acceleration as indicated by the at least one received sensor signal and to then transmit an output variable “

    side slip angle”

    of the single-track model together with the at least one cornering stiffness parameter to the signal output of the observer device, further comprising a second controller for a “

    Global Chassis Control”

    that is coupled to the observer device via the signal output, wherein the second controller is configured to define a plurality of desired variables as a function of at least one of the estimated values received via the signal output and to control at least one actuator selected from the group consisting of a superimposed steering, a rear wheel steering, a torque vectoring device, at least one active stabilizer, at least one active damper, a roll stabilizer, a driving intervention controller and a braking intervention controller.

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