Device for estimating reference wheel speed of vehicle for turn stability control
US5879061A · kind A · utility
Assignee
Inventor
Key dates
| Filing date | Feb 10, 1997 |
| Grant date | Mar 9, 1999 |
| Priority date | — |
| Expiry date | Feb 10, 2017 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60T2230/02
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A device for estimating reference wheel speed of each wheel of a vehicle having: a calculator for calculating slip angle of vehicle body based upon lateral acceleration, yaw rate, and vehicle speed; an estimator for estimating speed of vehicle body at its center of gravity based upon wheel speed and yaw rate; and a calculator for calculating the reference wheel speed of each of the front left, front right, rear left and rear right wheels based upon the vehicle body gravity center speed, steering angle, slip angle of vehicle body, yaw rate, a half track of a corresponding wheel, and a half wheel base of a corresponding wheel as follows: EQU Vmfl=Vbc*cos (.delta.f-.beta.)-.gamma.*T*cos .delta.f+.gamma.*sin .delta.f*Lf; EQU Vmfr=Vbc*cos (.delta.f-.beta.)+.gamma.*Tfl*cos .delta.f+.gamma.*sin .delta.f*Lf; EQU Vmrl=Vbc*cos .beta.+.gamma.*Trl EQU Vmrr=Vbc*cos .beta.-.gamma.*Trr, wherein Vmfl, Vmfr, Vmrl and Vmrr are the reference wheel speed of front left, front right, rear left and rear right wheels, respectively, Vb is the vehicle body gravity center speed, .delta.f is the steering angle, .beta. is the vehicle body slip angle, .gamma. is the yaw rate, Tfl is a half track of the front le…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.