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US 5,480,219 AGranted
Control of vehicle side slip using yaw rate
AssigneeRobert Bosch GmbH
InventorsFriedrich Kost, Wolf-Dieter Ruf, Uwe Hartmann, Thomas Ehret, Anton Van Zanten, Rainer Erhardt
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Abstract
A required yaw rate value is determined based on driver inputs such as steering angle, master cylinder pressure, and throttle butterfly angle. The required yaw rate is compared to a measured actual yaw rate value and the actual yaw moment acceleration is influenced based on the comparison.
Claims9
Method for controlling stability of a vehicle exhibiting a steering angle .delta., a yaw rate .omega., a vehicle velocity v.sub.F, a throttle butterfly position, and a master cylinder pressure P.sub.vor, said method comprising
- determining the steering angle .delta., the yaw rate .omega., and the vehicle velocity v.sub.F,
- determining a steady-state required yaw rate .omega..sub.so110 according to ##EQU7## where k is a constant, L is the wheel base, and v.sub.ch is a vehicle characteristic velocity,
- determining at least one of throttle butterfly position .alpha..sub.DK and master cylinder pressure P.sub.vor,
- determining a desired longitudinal force F.sub.L,W as a function of at least one of .alpha..sub.DK and P.sub.vor,
- determining a desired side force according to F.sub.S,W =mv.sub.F .omega..sub.so110 where m is the vehicle mass,
- determining the total force desired by the driver according to
- F.sub.ges,W =.sqroot.F.sub.S,W.sup.2 +F.sub.L,W.sup.2,
- determining the total available force F.sub.ges between tires and road,
- determining a factor x=F.sub.ges /F.sub.ges,W, where x.ltoreq.1,
- determining a required yaw rate .omega..sub.so11 according to .omega..sub.so11 =x.omega..sub.so110, and
- varying brake pressure at the wheels so that .omega.=.omega..sub.so11.
8 more elements
Dependencies are inferred from the claim text.