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 Title: |
US6223114:
Process for controlling driving dynamics of a street vehicle
[ Derwent Title ]
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| Country: |
US United States of America
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| Inventor: |
Boros, Imre; Wolfschlugen, Germany
Hamann, Dieter; Waiblingen, Germany
Maurath, Rudolf; Esslingen, Germany
Pressel, Joachim; Korntal-Muenchingen, Germany
Reiner, Michael; Fellbach, Germany
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| Assignee: |
DaimlerChrysler AG, Stuttgart, Germany
other patents from DAIMLER?CHRYSLER AKTIENGESELLSCHAFT (765402) (approx. 1,568)
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| Published / Filed: |
2001-04-24
/ 1999-03-22
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| Application Number: |
US1999000273760
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| IPC Code: |
Advanced:
B60T 8/1755;
B62D 6/00;
B62D 13/00;
G05D 1/02;
B62D 101/00;
B62D 111/00;
B62D 113/00;
IPC-7:
G06F 7/00;
G06F 9/00;
G06F 17/00;
G06F 19/00;
G06G 7/00;
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| ECLA Code: |
B60T8/17P9; B60T8/1755D; L60T230/02; L60T270/86;
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| U.S. Class: |
Current:
701/070;
701/001;
701/036;
701/041;
701/050;
701/053;
701/055;
701/072;
701/079;
Original:
701/070;
701/001;
701/036;
701/041;
701/072;
701/050;
701/053;
701/055;
701/079;
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| Field of Search: |
701/070,1,36,41,72,50,53,55,79
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| Priority Number: |
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| Abstract: |
For regulating the driving dynamics of a road vehicle, setpoints for the yaw rate {dot over (¨)} 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 {dot over (¨)}SO as a setpoint, and the actual values {dot over (¨)}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].({overscore ({dot over (X)})})=[Q].({overscore (X)})+({overscore (C)}).delta(t). The driving-dynamic state values betaZ(k-1) and {dot over (¨)}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 TK, by evaluation of the system of equationswith the values of the matrix elements pij and qij updated for that point in time TK.
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| Attorney, Agent or Firm: |
Evenson, McKeown, Edwards & Lenahan, P.L.L.C. ;
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| Primary / Asst. Examiners: |
Cuchlinski, Jr., William A.; Mancho, Ronnie
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| INPADOC Legal Status: |
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Family Legal Status Report
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| Designated Country: |
DE ES FR GB IT NL SE
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| Family: |
Show 8 known family members
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First Claim:
Show all 26 claims |
What is claimed is:
1. A method for driving dynamic regulation of a road vehicle in which reference values for at least a yaw rate .PSI. and a float angle β of the vehicle are generated, under clock control in sequential cycles of a presettable duration TK, by a simulation computer in an electronic control unit which automatically regulates driving dynamics of the vehicle based on a model that represents the vehicle in terms of design and load state parameters thereof, and based on operating data which includes measured current values of steering angle δ and vehicle speed vx, said simulation computer generating control signals for activating at least one wheel brake of the vehicle based on a comparison of a reference value .PSI.SO as a setpoint for the yaw rate of the vehicle and actual values .PSI.I of the yaw rate of the vehicle that are continuously recorded a yaw rate sensor device, or for reducing an engine drive torque of the vehicle; wherein
- the vehicle model is implemented by a linear differential equation system of the form
[P].multidot.({dot over (X)})=[Q].multidot.(X)+(C).multidot.δ(t)
in which [P] represents a 4×4 matrix with elements pij (pij =0,mZ v,0,0; 0,0,0,JZ ; 0,0,0,0; 0,-1,0,0) mZ being a mass of the vehicle, JZ being a yaw moment of inertia of the vehicle, and v being a lengthwise velocity of the vehicle; [Q] represents a 4×4 matrix with elements qij (qij =0, -Cv -CH, 0, -mz.multidot.v-(Cv 1v -CH 1H)/v; 0, CH 1H -Cv 1v, 0, (-1v2 Cv -1H2 CH)/v; 0,0,0,0; 0,0,0,1), CV and CH being diagonal travel stiffnesses of front and rear wheels of the vehicle respectively, and lV and lH being a distance between vehicle center of gravity and a front axle or a rear axle; C represents a four-component column vector with components ci (ci =cV,CV lV,0,0); X represents a four-component column vector formed from state values βZ and .PSI.z with components xi (xi =0, βz, 0, .PSI.z); and {dot over (X)} represents the time derivative dX/dt of the column vector X; and
- driving-dynamic state values βZ (k-1) and .PSI.z (k-1) are determined at a point in time t(k-1), and updated at a point in time t(k) that is later by the clock time interval TK, by evaluation of a system of equations [Figure]
with values of matrix elements pij and qij that are updated at a point in time t(k).
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| Background / Summary: |
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| Description: |
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| Forward References: |
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