Patent US5478143A successfully refreshed from Google Patents.
US5478143A
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US
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Antilock brake control method
Assignee: Robert Bosch GmbH
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Filing: 1994-07-13
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Granted: 1995-12-26
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Expires: 2014-07-13
Abstract
Abstract A difference δ 2 -δ 1 is formed between the steering angle δ 2 actually measured and the steering angle δ 1 calculated from the vehicle transverse acceleration, vehicle speed, and a series of constants. This difference (δ 2 -δ 1 ) is used to displace the working point on the μ-slip curve in the direction of an increase of the lateral stability, i.e., toward smaller slip values. Response can be improved by making the displacement also dependent on the rate of change of this difference or the rate of change of the actual steering angle. Preferably no reaction is produced when the difference is below a threshold angle unless one of the rates exceeds a respective threshold.
Inventors
- 👤 Berend-Wilhelm Doden
- 👤 Elmar Muller
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-05 20:18
CPC Classifications
B; B60; B60T; B60T8/00; B60T8/17; B60T8/1755; B60T2201/00; B60T2201/16; B60T2270/00; B60T2270/30; B60T2270/313
Claims Analysis
Total Claims: 8
Claim 1
Independent Claim
194 words
Method for reducing brake pressure in a vehicle equipped with front wheels and rear wheels, each wheel exhibiting a μ-slip curve, and an ABS which reduces brake pressure at the wheels when wheel slippage exceeds a working point on the respective μ-slip curve, said vehicle exhibiting a transverse acceleration and a steering angle, said method comprising measuring the actual steering angle δ 2 , measuring the speeds of the wheels, determining a vehicle speed v F based on the wheel speeds, determining wheel slip values based on the wheel speeds and the vehicle speed, measuring the transverse acceleration a q , determining a steering angle value δ 1 based on said vehicle speed v F , said transverse acceleration a q , and constants specific to the vehicle, determining the difference δ 2 -δ 1 between the actual steering angle δ 2 and the determined steering angle value δ 1 , displacing the working point on the μ-slip curve toward smaller slip values based on δ 2 -δ 1 , and reducing brake pressure at at least one said wheel when the determined slip value exceeds the working point on the respective μ-slip curve.
Claim 2
Dependent Claim
194 words
Method for reducing brake pressure in a vehicle equipped with front wheels and rear wheels, each wheel exhibiting a μ-slip curve, and an ABS which reduces brake pressure at the wheels when wheel slippage exceeds a working point on the respective μ-slip curve, said vehicle exhibiting a transverse acceleration and a steering angle, said method comprising measuring the actual steering angle δ 2 , measuring the speeds of the wheels, determining a vehicle speed v F based on the wheel speeds, determining wheel slip values based on the wheel speeds and the vehicle speed, measuring the transverse acceleration a q , determining a steering angle value δ 1 based on said vehicle speed v F , said transverse acceleration a q , and constants specific to the vehicle, determining the difference δ 2 -δ 1 between the actual steering angle δ 2 and the determined steering angle value δ 1 , displacing the working point on the μ-slip curve toward smaller slip values based on δ 2 -δ 1 , and reducing brake pressure at at least one said wheel when the determined slip value exceeds the working point on the respective μ-slip curve.
Claim 3
Dependent Claim
46 words
Method as in claim 1 further comprising determining a rate of change d(δ 2 -δ 1 )/dt of the difference δ 2 -δ 1 , and displacing the working point on the μ-slip curve toward smaller and slip values based on d(δ 2 -δ 1 )/dt.
Claim 4
Dependent Claim
43 words
Method as in claim 1 further comprising comparing the difference δ 2 -δ 1 to a first threshold value, and displacing the working point on the μ-slip curve toward said smaller slip values when δ 2 -δ 1 exceeds said first threshold value.
Claim 5
Dependent Claim
65 words
Method as in claim 3 further comprising determining a rate of change d(δ 2 -δ 1 )/dt of the difference δ 2 -δ 1 , comparing the rate of change d(δ 2 -δ 1 )/dt to a second threshold value, and displacing the working point on the μ-slip curve toward said smaller slip values when d(δ 2 -δ 1 )/dt exceeds said second threshold value.
Claim 6
Dependent Claim
60 words
Method as in claim 3 further comprising determining a rate of change dδ 2 /dt of said actual steering angle δ 2 , and comparing the rate of change dδ 2 /dt to a third threshold value, and displacing the working point on the μ-slip curve toward said smaller slip values when dδ 2 /dt exceeds said third threshold value.
Claim 7
Dependent Claim
42 words
Method as in claim 1 further comprising determining a rate of change dδ 2 /dt of said actual steering angle δ 2 , and displacing the working point on the μ-slip curve toward said smaller slip values based on dδ 2 /dt.
Claim 8
Dependent Claim
52 words
Method as in claim 1 wherein the working point of the μ-slip curve for the front wheels is determined independently of the working point of the μ-slip curve for the rear wheels, whereby the brake pressure at the front wheels may be reduced independently of the brake pressure at the rear wheels.
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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) | 1998-12-25 | 1999-06-26 | 1999-12-26 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2002-12-25 | 2003-06-26 | 2003-12-26 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2006-12-25 | 2007-06-26 | 2007-12-26 | $7700.00 | Window Closed / Lapsed |