Process for controlling driving dynamics of a street vehicle

US6223114A · kind A · utility

Assignee

• Daimlerchrysler AG · US

Inventors

• Imre Boros · Wolfschlugen, DE
• Dieter Hamann · Gunzenhausen, DE
• Rudolf Maurath · Eßlingen, DE
• Joachim Pressel · Ditzingen, DE
• Michael Reiner · Fellbach, DE

Key dates

• Filing date: Mar 22, 1999
• Grant date: Apr 24, 2001
• Expiry date: Mar 22, 2019

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B60T2270/86
• WIPO field: Transport
• WIPO sector: Mechanical engineering

Abstract

For regulating the driving dynamics of a road vehicle, setpoints for the yaw rate .PSI. and the float angle .beta. of the vehicle are generated continuously by evaluating a simulation computer implemented vehicle model. The simulation computer generates control signals for activating at least one wheel brake of the vehicle based on a comparison of the reference values .PSI..sub.SO as a setpoint, and the actual values .PSI..sub.I of the yaw rate continuously recorded by a yaw rate sensor. The vehicle model is represented by a linear differential equation system of the form [P].multidot.({dot over (X)})=[Q].multidot.(X)+(C).multidot..delta.(t). The driving-dynamic state values .beta..sub.Z (k-1) and .PSI..sub.Z (k-1) are updated at a point in time t(k-1), followed by a point in time t(k) that is later by a clock time interval T.sub.K, by evaluation of the system of equations ##EQU1## with the values of the matrix elements p.sub.ij and q.sub.ij updated for that point in time T.sub.K.