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US 11,485,370 B2Granted
Method for determining a corrected wheel radius on the basis of the measured yaw rate
AssigneesThyssenkrupp Presta AG, thyssenkrupp AG
InventorLeonard Lapis
Life of this patent
Estimating the term…
Abstract
A method for determining a wheel radius of a motor vehicle, including calculating a yaw rate of the motor vehicle by means of a wheel speed of at least one wheel and a predefined wheel radius. The calculated yaw rate is compared with a measured yaw rate. The wheel speed is adapted. The calculation of the yaw rate is input, of the at least one wheel by means of a correction factor, so that the calculated yaw rate is equal to the measured yaw rate. The correction factor and the predefined wheel radius or the wheel speed is multiplied. The calculation of the yaw rate is input, for the determination of a corrected wheel radius or of a corrected wheel speed.
Claims18
A method comprising:
- determining a wheel radius of a motor vehicle with steerable front wheels,
- wherein determining the wheel radius includes:
- calculating a yaw rate of the motor vehicle by a wheel speed of at least one wheel which is determined by a predefined wheel radius,
- comparing the calculated yaw rate to a measured yaw rate,
- adapting the wheel speed, input in the calculation of the yaw rate, of the at least one wheel by means of a correction factor so that the calculated yaw rate is equal to the measured yaw rate, and
- multiplying the correction factor and the predefined wheel radius and/or the wheel speed, input in the calculation of the yaw rate, for the determination of a corrected wheel radius and/or of a corrected wheel speed;
- determining a motor vehicle variable based on the corrected wheel radius and/or the corrected wheel speed, wherein the motor vehicle variable is at least one of a vehicle speed, a distance traveled, a current position of the motor vehicle, or an orientation of the motor vehicle;
- providing the motor vehicle variable to an antilock brake system, a traction control system or an electronic stability system;
- and
- controlling a position of the motor vehicle with the antilock brake system, the traction control system, or the electronic stability system based on the motor vehicle variable,
- wherein the correction factors are calculated with the following formula:
- k
- RR
- =
- b
- ·
- ψ
- .
- -
- k
- FL
- ·
- v
- FL
- ·
- cos
-
-
- δ
- FL
- -
- v
- RR
-
-
- with
-
-
- k
- FL
- =
- ψ
- .
- ·
- l
- v
- FL
- ·
- sin
-
-
- δ
- FL
- ,
-
- k
- RL
- =
- b
- ·
- ψ
- .
- +
- k
- FR
- ·
- v
- FR
- ·
- cos
-
-
- δ
- FR
- v
- RL
-
-
- with
-
-
- k
- FR
- =
- ψ
- .
- ·
- l
- v
- FR
- ·
- sin
-
-
- δ
- FR
- ,
- where
- νFL Wheel speed front left
- νFR Wheel speed front right
- νRL Wheel speed rear left
- νRR Wheel speed rear right
- δFL Wheel steering angle front left
- δFR Wheel steering angle front right
- l Wheelbase
- b Track width.
103 more elements
A steer-by-wire steering system for a motor vehicle comprising:
- steerable front wheels;
- an antilock brake system, a traction control system, or an electronic stability system;
- and
- a device that is configured to perform the following steps only when a measured yaw rate is >0.05°/s:
- determining a wheel radius of the motor vehicle, wherein determining the wheel radius includes:
- calculating a yaw rate of the motor vehicle by a wheel speed of at least one wheel which is determined by a predefined wheel radius,
- comparing the calculated yaw rate to the measured yaw rate,
- adapting the wheel speed, input in the calculation of the yaw rate, of the at least one wheel by means of a correction factor so that the calculated yaw rate is equal to the measured yaw rate, and
- multiplying the correction factor and the predefined wheel radius and/or the wheel speed, input in the calculation of the yaw rate, for the determination of a corrected wheel radius and/or of a corrected wheel speed;
- determining a motor vehicle variable based on the corrected wheel radius and/or the corrected wheel speed, wherein the motor vehicle variable is at least one of a vehicle speed, a distance traveled, a current position of the motor vehicle, or an orientation of the motor vehicle, and
- providing the motor vehicle variable to the antilock brake system, the traction control system, or the electronic stability system and
- controlling a position of the motor vehicle with the anti lock brake system, the traction control system, or the electronic stability system based on the motor vehicle variable.
9 more elements
A method comprising:
- determining a wheel radius of a motor vehicle with steerable front wheels, wherein
- determining the wheel radius includes:
- calculating a yaw rate of the motor vehicle by a wheel speed of at least one wheel which is determined by a predefined wheel radius,
- comparing the calculated yaw rate to a measured yaw rate,
- adapting the wheel speed, input in the calculation of the yaw rate, of the at least one wheel by means of a correction factor so that the calculated yaw rate is equal to the measured yaw rate, and
- multiplying the correction factor and the predefined wheel radius and/or the wheel speed, input in the calculation of the yaw rate, for the determination of a corrected wheel radius and/or of a corrected wheel speed;
- determining a motor vehicle variable based on the corrected wheel radius and/or the corrected wheel speed, wherein the motor vehicle variable is at least one of a vehicle speed, a distance traveled, a current position of the motor vehicle, or an orientation of the motor vehicle;
- providing the motor vehicle variable to an antilock brake system, a traction control system, or an electronic stability system;
- and
- controlling a position of the motor vehicle with the antilock brake system, the traction control system, or the electronic stability system based on the motor vehicle variable,
- wherein the correction factors are calculated with the following formula:
- k
- RR
- =
- -
- b
- ·
- ψ
- .
- +
- cos
-
-
- δ
- FL
- ·
- ψ
- .
-
- (
- l
- ·
- cos
-
-
- δ
- RR
- +
- b
- ·
- sin
-
-
- δ
- RR
- )
- sin
-
- (
- δ
- RR
- -
- δ
- FL
- )
- v
- RR
- ·
- cos
-
-
- δ
- RR
-
-
- with
-
-
- k
- FL
- =
- ψ
- .
- ·
- (
- l
- ·
- cos
-
-
- δ
- RR
- +
- b
- ·
- sin
-
-
- δ
- RR
- )
- v
- FL
- ·
- sin
-
- (
- δ
- RR
- -
- δ
- FL
- )
- ,
-
- k
- RL
- =
- b
- ·
- ψ
- .
- +
- cos
-
-
- δ
- FR
- ·
- ψ
- .
-
- (
- l
- ·
- cos
-
-
- δ
- RL
- +
- b
- ·
- sin
-
-
- δ
- RL
- )
- sin
-
- (
- δ
- FR
- -
- δ
- RL
- )
- v
- RL
- ·
- cos
-
-
- δ
- RL
-
-
- with
-
-
- k
- FR
- =
- ψ
- .
- ·
- (
- l
- ·
- cos
-
-
- δ
- RL
- +
- b
- ·
- sin
-
-
- δ
- RL
- )
- v
- FR
- ·
- sin
-
- (
- δ
- FR
- -
- δ
- RL
- )
- ,
- where
- δRL Wheel steering angle rear left
- δRR Wheel steering angle rear right.
197 more elements
Dependencies are inferred from the claim text.