US5332300A
Expired / Lapsed
US
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Process for controlling the stability of vehicles
Assignee: Robert Bosch GmbH
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Filing: 1988-09-15
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Granted: 1994-07-26
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Expires: 2008-09-15
Abstract
Abstract A lower limiting value of the yaw speed is calculated as a function of the steering angle, the vehicle speed, and the coefficient of friction between tires and road. If the yaw speed falls below the lower limiting value, the brake pressure is reduced in order to increase lateral stability.
Inventors
- 👤 Uwe Hartmann
- 👤 Anton van Zanten
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-24 21:07
CPC Classifications
B; B62; B62D; B62D6/00; B62D6/04; B60; B60T; B60T8/00; B60T8/17; B60T8/1755; B60T2201/00; B60T2201/16
Claims Analysis
Total Claims: 25
Claim 1
Independent Claim
89 words
A process for controlling stability of a vehicle during travel through curves, said process comprising the steps of: determining steering angle δ, vehicle yaw speed Φ, vehicle forward speed v F , and coefficient of friction μ between tires and road; calculating a lower limiting value curve of the yaw speed Φ as a function of the steering angle δ and in dependence upon the vehicle speed v F and the coefficient of the friction μ; and reducing brake pressure if the yaw speed falls lower limiting value curve.
Claim 2
Dependent Claim
89 words
A process for controlling stability of a vehicle during travel through curves, said process comprising the steps of: determining steering angle δ, vehicle yaw speed Φ, vehicle forward speed v F , and coefficient of friction μ between tires and road; calculating a lower limiting value curve of the yaw speed Φ as a function of the steering angle δ and in dependence upon the vehicle speed v F and the coefficient of the friction μ; and reducing brake pressure if the yaw speed falls lower limiting value curve.
Claim 3
Dependent Claim
32 words
The process defined in claim 1, further comprising the steps of determining an upper yaw speed limit and increasing the brake pressure if the yaw speed exceeds the upper yaw speed limit.
Claim 4
Dependent Claim
38 words
The process in accordance with claim 2, further comprising the steps of prescribing a tolerance range for the yaw speed Φ for small steering angles and decreasing the brake pressure when the yaw speed falls outside this range.
Claim 5
Dependent Claim
41 words
The process in accordance with claim 3, further comprising the steps of determining whether the yaw speed Φ occurs toward steering wheel lock from a given small steering angle onward and decreasing the brake pressure if this requirement is not met.
Claim 6
Dependent Claim
32 words
The process in accordance with claim 3, wherein a subsequent steering angle range of the desired value curve is determined by V F δ/L, where L is a constant representing wheel base.
Claim 7
Dependent Claim
27 words
The process in accordance with claim 5, wherein a constant lower limiting value curve is prescribed in a range from a given steering angle δ max onward.
Claim 8
Dependent Claim
66 words
The process in accordance with 6, further comprising the step of prescribing a lower limiting value curve based on segments of a straight line ##EQU13## within a range which is between the range determined by V F δ/L and the range from δmax onward; wherein K Ph is a constant, ##EQU14## K b is a constant, Φmax=μ o (-a) max , and K.sub.μo is a constant.
Claim 9
Dependent Claim
66 words
The process in accordance with 6, further comprising the step of prescribing a lower limiting value curve based on segments of a straight line ##EQU13## within a range which is between the range determined by V F δ/L and the range from δmax onward; wherein K Ph is a constant, ##EQU14## K b is a constant, Φmax=μ o (-a) max , and K.sub.μo is a constant.
Claim 10
Dependent Claim
38 words
The process in accordance with claim 1, further comprising the steps of prescribing a tolerance range for the yaw speed Φ for small steering angles and decreasing the brake pressure when the yaw speed falls outside this range.
Claim 11
Dependent Claim
41 words
The process in accordance with claim 8, further comprising the steps of determining whether the yaw speed Φ occurs toward steering wheel lock from a given small steering angle onward and decreasing the brake pressure if this requirement is not met.
Claim 12
Dependent Claim
33 words
The process in accordance with claim 8, wherein a subsequent steering angle range of the lower limiting value curve is determined by V F δ/L, where L is a constant representing wheel base.
Claim 13
Dependent Claim
27 words
The process in accordance with claim 10, wherein a constant lower limiting value curve is prescribed in a range from a given steering angle δ max onward.
Claim 14
Dependent Claim
67 words
The process in accordance with claim 11, further comprising the step of prescribing a lower limiting value curve based on segments of a straight line ##EQU15## within a range which is between the range determined by V F δ/L and the range from δmax; wherein K Ph is a constant, ##EQU16## K b is a constant, Φmax =μ o (-a) max , and K.sub.μo is a constant.
Claim 15
Dependent Claim
22 words
The process in accordance with claim 1, further comprising step of optimizing the braking slip by means of a brake pressure control.
Claim 16
Dependent Claim
24 words
The process in accordance with claim 1, wherein the coefficient of friction μ is determined from a maximum vehicle deceleration (-a) max during braking.
Claim 17
Dependent Claim
96 words
A process for controlling stability of a vehicle during travel through curves, said process comprising the steps of: determining steering angle δ, vehicle yaw speed Φ, vehicle forward speed v F and coefficient of friction μ between tires and road; calculating a desired value curve of the yaw speed Φ as a function of the steering angle δ and in dependence upon the vehicle speed v F and the friction coefficient μ; and adjusting brake pressure to vary the actual yaw speed toward the desired value curve by one of increasing or decreasing the brake pressure.
Claim 18
Dependent Claim
96 words
A process for controlling stability of a vehicle during travel through curves, said process comprising the steps of: determining steering angle δ, vehicle yaw speed Φ, vehicle forward speed v F and coefficient of friction μ between tires and road; calculating a desired value curve of the yaw speed Φ as a function of the steering angle δ and in dependence upon the vehicle speed v F and the friction coefficient μ; and adjusting brake pressure to vary the actual yaw speed toward the desired value curve by one of increasing or decreasing the brake pressure.
Claim 19
Dependent Claim
38 words
The process in accordance with claim 15, further comprising the steps of prescribing a tolerance range for the yaw speed Φ for small steering angles and decreasing the brake pressure when the yaw speed falls outside this range.
Claim 20
Dependent Claim
41 words
The process in accordance with claim 16, further comprising the steps of determining whether the yaw speed Φ occurs toward steering wheel lock from a given small steering angle onward and decreasing the brake pressure if this requirement is not met.
Claim 21
Dependent Claim
32 words
The process in accordance with claim 16, wherein a subsequent steering angle range of the desired value curve is determined by V F δ/L, where L is a constant representing wheel base.
Claim 22
Dependent Claim
26 words
The process in accordance with claim 18, wherein a constant desired value curve is prescribed in a range from a given steering angle δ max onward.
Claim 23
Dependent Claim
66 words
The process in accordance with claim 19, further comprising the step of prescribing a desired value curve based on segments of a straight line ##EQU17## within a range which is between the range determined by V F δ/L and the range from δmax; onward K Ph is a constant, ##EQU18## K b is a constant, Φmax =μ o (-a) max , and K.sub.μo is a constant.
Claim 24
Dependent Claim
22 words
The process in accordance with claim 15, further comprising step of optimizing the braking slip by means of a brake pressure control.
Claim 25
Dependent Claim
24 words
The process in accordance with claim 15, wherein the coefficient of friction μ is determined from a maximum vehicle deceleration (-a) max during braking.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1997-07-25 | 1998-01-24 | 1998-07-26 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2001-07-25 | 2002-01-24 | 2002-07-26 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2005-07-25 | 2006-01-24 | 2006-07-26 | $7700.00 | Window Closed / Lapsed |