US5480219A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Control of vehicle side slip using yaw rate
Assignee: Robert Bosch GmbH
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Filing: 1993-12-04
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Granted: 1996-01-02
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Expires: 2013-12-04
Abstract
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.
Inventors
- 👤 Friedrich Kost
- 👤 Wolf-Dieter Ruf
- 👤 Uwe Hartmann
- 👤 Thomas Ehret
- 👤 Anton van Zanten
- 👤 Rainer Erhardt
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-03 11:51
CPC Classifications
B; B62; B62D; B62D6/00; B60; B60T; B60T8/00; B60T8/17; B60T8/172; B60T8/1755; B60W; B60W30/00; B60W30/18; B60W30/18009; B60W30/18145; B62D37/00; G; G05; G05D; G05D1/00; G05D1/08; G05D1/0891; B60T2220/00; B60T2220/04; B60W2520/00; B60W2520/14; B60W2540/00; B60W2540/18
Claims Analysis
Total Claims: 10
Claim 1
Independent Claim
201 words
Method for controlling stability of a vehicle exhibiting a steering angle δ, a yaw rate ω, a vehicle velocity v F , a throttle butterfly position, and a master cylinder pressure P vor , said method comprising determining the steering angle δ, the yaw rate ω, and the vehicle velocity v F , determining a steady-state required yaw rate ω so110 according to ##EQU7## where k is a constant, L is the wheel base, and v ch is a vehicle characteristic velocity, determining at least one of throttle butterfly position α DK and master cylinder pressure P vor , determining a desired longitudinal force F L ,W as a function of at least one of α DK and P vor , determining a desired side force according to F S ,W =mv F ω so110 where m is the vehicle mass, determining the total force desired by the driver according to F.sub.ges,W =√F.sub.S,W.sup.2 +F.sub.L,W.sup.2, determining the total available force F ges between tires and road, determining a factor x=F ges /F ges ,W, where x≦1, determining a required yaw rate ω so11 according to ω so11 =xω so110 , and varying brake pressure at the wheels so that ω=ω so11 .
Claim 2
Dependent Claim
201 words
Method for controlling stability of a vehicle exhibiting a steering angle δ, a yaw rate ω, a vehicle velocity v F , a throttle butterfly position, and a master cylinder pressure P vor , said method comprising determining the steering angle δ, the yaw rate ω, and the vehicle velocity v F , determining a steady-state required yaw rate ω so110 according to ##EQU7## where k is a constant, L is the wheel base, and v ch is a vehicle characteristic velocity, determining at least one of throttle butterfly position α DK and master cylinder pressure P vor , determining a desired longitudinal force F L ,W as a function of at least one of α DK and P vor , determining a desired side force according to F S ,W =mv F ω so110 where m is the vehicle mass, determining the total force desired by the driver according to F.sub.ges,W =√F.sub.S,W.sup.2 +F.sub.L,W.sup.2, determining the total available force F ges between tires and road, determining a factor x=F ges /F ges ,W, where x≦1, determining a required yaw rate ω so11 according to ω so11 =xω so110 , and varying brake pressure at the wheels so that ω=ω so11 .
Claim 3
Dependent Claim
20 words
Method as in claim 1 wherein F ges is determined by determining and adding tire forces at the individual wheels.
Claim 4
Dependent Claim
39 words
Method as in claim 1 wherein F ges is determined by determining the total longitudinal force F L and the total transverse force F Q , and by the relation F ges =F L 2 +F Q 2 .
Claim 5
Dependent Claim
49 words
Method as in claim 3 wherein F L and F Q are determined by determining the total longitudinal acceleration a L and the total transverse acceleration a Q , and by the relations F L =ma L and F Q =ma Q , where m is the vehicle mass.
Claim 6
Dependent Claim
23 words
Method as in claim 1 wherein ω so11 is reduced when the available forces are not sufficient for the desired change in motion.
Claim 7
Dependent Claim
27 words
Method as in claim 5 wherein the factor x increases when F S ,W decreases and the ratio F Q /F L falls below a specified value.
Claim 8
Dependent Claim
31 words
Method as in claim 1 wherein a transverse vehicle acceleration a Q is determined and ω so110 is limited to ω B , where ω B =a Q /v F .
Claim 9
Dependent Claim
23 words
Method as in claim 1 wherein ω so11 is subjected to low pass filtering so that ω and ω so11 are phase matched.
Claim 10
Dependent Claim
64 words
Method as in claim 1 further comprising determining when the steering angle δ is increasing, feeding the signal ω so11 through a differentiating filter to produce an increase signal ω Ansell , forming a filtered value ω so11 ,mod according to ω so11 ,mod =ω so11 +ω Anstell , and substituting ω so11 ,mod for ω so11 in order to vary the brake pressure.
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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) | 1999-01-01 | 1999-07-03 | 2000-01-02 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2003-01-01 | 2003-07-03 | 2004-01-02 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2007-01-01 | 2007-07-03 | 2008-01-02 | $7700.00 | Window Closed / Lapsed |