# US 2025/0145147 A1 · Method for controlling the wheel slip of a motor vehicle, control unit and motor vehicle

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- Number: US 2025/0145147 A1
- Document ID: US20250145147A1
- Status: Published application
- Kind: A1
- Application number: 18/933,441
- Filed: 2024-10-31
- Published: 2025-05-08
- Earliest claimed: 2023-11-02
- Assignees: Thyssenkrupp Presta AG; thyssenkrupp AG
- Applicants: thyssenkrupp Presta AG; thyssenkrupp AG
- Inventors: Leonard LAPIS
- Web page: https://patentgrep.com/patent/US20250145147A1

## CPC

- B60W 10/08: including control of electric propulsion units, e.g. motors or generators
- B60W 30/02: Control of vehicle driving stability
- 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)
- B60T 8/17552: {responsive to the tyre sideslip angle or the vehicle body slip angle}
- B60T 8/17616: {Microprocessor-based systems}
- B60W 10/184: with wheel brakes
- B60W 10/192: electric brakes
- B60W 10/20: including control of steering systems
- B60W 50/085: {Changing the parameters of the control units, e.g. changing limit values, working points by control input}
- B60W 50/087: {where the control system corrects or modifies a request from the driver}
- B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention
- B60T 2230/02: Side slip angle, attitude angle, floating angle, drift angle
- B60T 2270/86: Optimizing braking by using ESP vehicle or tyre model
- B60W 2510/205: Steering speed
- B60W 2520/26: Wheel slip
- B60W 2710/207: Steering angle of wheels
- B60W 2720/20: Sideslip angle
- B60W 2720/26: Wheel slip
- B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES

## Abstract

A method for controlling wheel slip of a motor vehicle having at least two wheels, an electromechanical braking system, an electric drive system, and a steer-by-wire steering system comprises: converting a target trajectory of the motor vehicle into a target movement of the motor vehicle; determining wheel-specific target longitudinal and target transverse slip values for the wheels based on the target movement using a vehicle and tyre model; and adjusting actual longitudinal and actual transverse slip values of the wheels to the respective target longitudinal and target transverse slip values by the electromechanical brake system and the electric drive system as a function of a steering angle of the steer-by-wire steering system. A motor vehicle may include a control unit designed to carry out such a method.

## Claims

### Claim 1

A method for controlling wheel slip of a motor vehicle having at least two wheels, an electromechanical braking system, an electric drive system, and a steer-by-wire steering system, the method comprising:
converting a target trajectory of the motor vehicle into a target movement of the motor vehicle;
determining wheel-specific target longitudinal and target transverse slip values for the wheels based on the target movement using a vehicle and tyre model; and
adjusting actual longitudinal and actual transverse slip values of the wheels to the respective target longitudinal and target transverse slip values by the electromechanical braking system and the electric drive system as a function of a steering angle of the steer-by-wire steering system.

### Claim 2 (depends on 1)

The method according to claim 1, wherein the target longitudinal and target transverse slip values are determined on the basis of the actual longitudinal and actual transverse slip values.

### Claim 3 (depends on 1)

The method according to claim 1, wherein the vehicle and tyre model maps the ratio of longitudinal and transverse slip values of the wheels to the maximum transmissible longitudinal and transverse forces of the wheels.

### Claim 4 (depends on 3)

The method according to claim 3, wherein the ratio is mapped as a function of static and/or dynamic wheel loads of the wheels.

### Claim 5 (depends on 3)

The method according to claim 3, wherein the ratio is mapped as a function of predicted static and/or dynamic wheel loads of the wheels.

### Claim 6 (depends on 3)

The method according to claim 3, wherein the ratio is mapped as a function of a coefficient of friction between the wheels and the roadway.

### Claim 7 (depends on 3)

The method according to claim 3, wherein the ratio is mapped as a function of an estimated coefficient of friction between the wheels and the roadway.

### Claim 8 (depends on 1)

The method according to claim 1, wherein the target trajectory is provided by a human-machine interface and/or a computer-implemented method.

### Claim 9

A control device for controlling wheel slip of a motor vehicle having at least two wheels, an electromechanical braking system, an electric drive system and a steer-by-wire steering system, wherein the control device is adapted to perform a method comprising:
converting a target trajectory of the motor vehicle into a target movement of the motor vehicle;
determining wheel-specific target longitudinal and target transverse slip values for the wheels based on the target movement using a vehicle and tyre model; and
adjusting actual longitudinal and actual transverse slip values of the wheels to the respective target longitudinal and target transverse slip values by the electromechanical braking system and the electric drive system as a function of a steering angle of the steer-by-wire steering system.

### Claim 10 (depends on 9)

A motor vehicle with a control device according to claim 9.