Motor vehicle control system and method
AssigneeRobert Bosch GmbH
InventorsGerd Bush, Thomas Ehret, Fredrich Kost, Karl-Josef Weiss
Life of this patent
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Abstract
A control system for motor vehicles in which the errors in wheel velocities created by tolerances between the tires are compensated.
Claims20
In a method for actuating at least one of the vehicle units brake device and propulsion device, with said actuation being a function of at least the respective wheel velocities, which are represented by detected wheel velocity signals, and in which one of the vehicle wheels is selected as a reference wheel and, starting from the wheel velocity of the reference wheel and for the consideration of the different wheel diameters of the other vehicle wheels, the respective detected wheel velocity signals of the other wheels are corrected by respective correction values, and the corrected wheel velocity signals are utilized for said actuation;
- and further comprising:
- determining the yaw velocity, the steering angle and the longitudinal tire forces of the respective wheels,
- determining respective slip-corrected wheel velocities as a function of the respective detected wheel velocities and the respective determined longitudinal tire forces,
- determining a quantity describing the longitudinal vehicle velocity as a function of the determined slip-corrected wheel velocity of the reference wheel, the determined steering angle and the determined yaw velocity,
- determining respective wheel reference velocities starting from the determined quantity describing the longitudinal vehicle velocity and in further dependence on the determined yaw velocity and steering angle, and
- determining said correction values as a function of the slip-corrected wheel velocities and the determined wheel reference velocities.
In a control system wherein at least one of the vehicle units brake device and propulsion device is actuated, as a function of at least the respective wheel velocities, which are represented by detected wheel velocity signals, and including means for selecting one of the vehicle wheels as a reference wheel, for starting from the wheel velocity of the reference wheel and for the consideration of the different wheel diameters of the other vehicle wheels, correcting the respective detected wheel velocity signals of the other wheels by correction values, and for utilizing the correct wheel velocity signals to produce the actuation, said system further comprising:
- means for determining the vehicle yaw velocity, the vehicle steering angle and the longitudinal tire forces of the respective wheels;
- means for determining slip-corrected wheel velocities as a function of the respective wheel velocities and the respective determined longitudinal tire forces;
- means for determining a quantity describing the longitudinal vehicle velocity as a function of the respective determined slip-corrected wheel velocity of the reference wheel, the determined steering angle and the determined yaw velocity;
- means for determining respective wheel reference velocities starting from the determined quantity describing the longitudinal vehicle velocity and in further dependence on the determined yaw velocity and steering angle;
- and
- means for determining respective said correction values as a function of the respective slip-corrected wheel velocities and the respective determined wheel reference velocities.
Dependencies are inferred from the claim text.