# US 5,710,705 A · Method for determining an additional yawing moment based on side slip angle velocity > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 5,710,705 A - Document ID: US5710705A - Status: Granted - Kind: A - Application number: 08/475,678 - Filed: 1995-06-07 - Granted: 1998-01-20 - Earliest claimed: 1994-11-25 - Assignees: ITT Automotive Europe GmbH - Inventors: Alfred Eckert - Web page: https://patentgrep.com/patent/US5710705A ## CPC - B60T 8/17551: {determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters} - B60W 10/184: with wheel brakes - B60W 30/02: Control of vehicle driving stability - B60W 40/064: Degree of grip - B60G 2400/1042: using at least two sensors - B60T 2210/12: Friction - B60T 2230/02: Side slip angle, attitude angle, floating angle, drift angle - B60T 2270/313: with less than three sensors (yaw rate, steering angle, lateral acceleration) - B60W 2422/95: Measuring the same parameter at multiple locations of the vehicle - B60W 2520/125: Lateral acceleration - B60W 2520/14: Yaw - B60W 2520/20: Sideslip angle - B60W 2720/14: Yaw - B60W 2720/30: Wheel torque - 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 - 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 - B60G: VEHICLE SUSPENSION ARRANGEMENTS (air-cushion vehicles B60V; {cycle suspensions B62K25/00}) ## Abstract A method for improving the driving behavior of an automotive vehicle is provided. The vehicle has a plurality of wheels, each wheel having a brake. The vehicle includes a plurality of sensors for generating signals representing the vehicle velocity, the vehicle steering angle and the measured yaw rate of the vehicle. A desired yaw rate is determined based on the vehicle velocity and the vehicle steering angle. A yaw rate adjustment value is calculated based on the desired yaw rate and the measured yaw rate. A velocity of the side slip angle is determined based on the vehicle velocity and the measured yaw rate. A value representing a yawing moment adjustment is determined based on the vehicle velocity value of the side slip angle. The yawing moment adjustment value is applied to control the yaw rate of the vehicle. ## Claims ### Claim 1 A method for improving the driving behavior of an automotive vehicle, the vehicle having a plurality of wheels, each wheel having a brake, said vehicle having a plurality of sensors for generating signals representing a vehicle velocity, a vehicle steering angle and a measured yaw rate of the vehicle, comprising the steps of: determining a desired yaw rate based on the vehicle velocity and the vehicle steering angle; generating a yawing moment adjustment value based on the desired yaw rate and the measured yaw rate; determining a velocity of the side slip angle kinematically, based on the vehicle velocity and the measured yaw rate; calculating an observer model velocity of the side slip angle based on the steering angle of the vehicle; and correcting the yawing moment adjustment based on the kinematically determined velocity value of the side slip angle and the observer model velocity of the side slip angle, said yawing moment adjustment value being applied to control the yaw rate of the vehicle. ### Claim 2 (depends on 1) A method according to claim 1, further comprising the step of providing a correction to reduce an error in the desired yaw rate based on the kinematically determined velocity of the side slip angle. ### Claim 3 (depends on 1) A method according to claim 1, wherein the step of determining the desired yaw rate includes adding a correction factor value to the desired yaw rate if the kinematically determined velocity of the side slip angle exceeds a threshold value. ### Claim 4 (depends on 3) A method according to claim 3, further comprising the step of periodically determining whether the kinematically determined velocity of the side slip angle exceeds the threshold value, wherein the step of determining the desired yaw rate includes the step of increasing the correction factor each time the kinematically determined velocity of the side slip angle is determined to exceed the threshold value. ### Claim 5 (depends on 4) A method according to claim 4, wherein the step of adding the correction factor to the desired yaw rate is only performed if the kinematically determined velocity of the side slip angle exceeds the threshold value. ### Claim 6 (depends on 5) A method according to claim 5, wherein the step of generating the yaw moment adjustment includes the step of adding a value to the yawing moment adjustment, said value being proportional to said kinematically determined velocity of the side slip angle. ### Claim 7 (depends on 6) A method according to claim 6, wherein the step of determining the velocity of the side slip angle includes calculating the kinematically determined velocity of the side slip angle based on output signals provided by a lateral acceleration sensor. ### Claim 8 (depends on 1) Method in accordance with claim 1, wherein the step of determining a velocity of the side slip angle kinematically includes computing the differential equation: ##EQU28## wherein .beta. is the kinematically determined velocity of the side slip angle, a.sub.trans is a lateral acceleration of the vehicle, .nu. is the reference velocity, .PSI. is the yaw rate, .nu. is the time derivative of the reference velocity, and .beta. is the side slip angle. ### Claim 9 (depends on 8) Method according to claim 8, including the step of calculating the side slip angle .beta. based on both the kinematically determined velocity value of the side slip angle and the observer model velocity of the side slip angle. ### Claim 10 Method for controlling the brake forces on braking means of a motor vehicle, which can be actuated individually, wherein a desired yaw rate is determined as a function of the velocity of the vehicle and the steering angle set by the driver, and this desired yaw rate is compared with the actual yaw rate, wherein an additional yawing moment, which is realized by an individual actuation of the braking means, is calculated on the basis of the deviation between these two values, comprising the steps of: measuring a plurality of variables including a vehicle velocity, a vehicle yaw rate, and a vehicle steering angle; deriving a kinematically determined velocity of the side slip angle of the vehicle from the vehicle velocity and yaw rate, calculating an observer model velocity of the side slip angle based on the steering angle of the vehicle; and using the kinematically determined velocity of the side slip angle and the observer model velocity of the side slip angle to determine a corrected additional yawing moment. ### Claim 11 (depends on 10) Method in accordance with claim 10, further comprising calculating a correction of the desired yaw rate in a reference model based on the kinematically determined velocity of the side slip angle and using the corrected desired yaw rate for a further calculation. ### Claim 12 (depends on 11) Method in accordance with claim 11, further comprising correcting the calculated additional yawing moment based on the kinematically determined velocity of the side slip angle. ### Claim 13 (depends on 12) Method in accordance with claim 12, further comprising increasing the calculated additional yawing moment by an additive constant, which increases linearly with increasing velocity of the side slip angle. ### Claim 14 (depends on 10) Method in accordance with claim 10, further comprising the step of using a reference model to provide a correction for the desired yaw rate when the velocity of the side slip angle exceeds a threshold value, said correction being an additive constant. ### Claim 15 (depends on 14) Method in accordance with claim 14, further comprising increasing the additive constant in each calculation run in which the kinematically determined velocity of the side slip angle is above the threshold value. ### Claim 16 (depends on 15) Method in accordance with claim 15, further comprising correcting the desired yaw rate only when an integrated velocity of the side slip angle exceeds a threshold value. ### Claim 17 (depends on 10) Method in accordance with claim 10, wherein the velocity of the side slip angle is calculated on the basis of signals sent by a lateral acceleration sensor.