GB2263180B - Determination of the transverse velocity of a vehicle and/or the drift angle - Google Patents

Determination of the transverse velocity of a vehicle and/or the drift angle

Info

Publication number
GB2263180B
GB2263180B GB9226931A GB9226931A GB2263180B GB 2263180 B GB2263180 B GB 2263180B GB 9226931 A GB9226931 A GB 9226931A GB 9226931 A GB9226931 A GB 9226931A GB 2263180 B GB2263180 B GB 2263180B
Authority
GB
United Kingdom
Prior art keywords
determination
vehicle
drift angle
transverse velocity
velocity
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
GB9226931A
Other versions
GB2263180A (en
GB9226931D0 (en
Inventor
Ralf Hadeler
William Stobart
Andreas Erban
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of GB9226931D0 publication Critical patent/GB9226931D0/en
Publication of GB2263180A publication Critical patent/GB2263180A/en
Application granted granted Critical
Publication of GB2263180B publication Critical patent/GB2263180B/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/172—Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • B62D6/04—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to forces disturbing the intended course of the vehicle, e.g. forces acting transversely to the direction of vehicle travel
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0891—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2230/00—Monitoring, detecting special vehicle behaviour; Counteracting thereof
    • B60T2230/02—Side slip angle, attitude angle, floating angle, drift angle

Landscapes

  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Regulating Braking Force (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Traffic Control Systems (AREA)
GB9226931A 1992-01-03 1992-12-24 Determination of the transverse velocity of a vehicle and/or the drift angle Expired - Fee Related GB2263180B (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE4200061A DE4200061C2 (en) 1992-01-03 1992-01-03 Procedure for determining the vehicle transverse speed and / or the slip angle

Publications (3)

Publication Number Publication Date
GB9226931D0 GB9226931D0 (en) 1993-02-17
GB2263180A GB2263180A (en) 1993-07-14
GB2263180B true GB2263180B (en) 1995-08-16

Family

ID=6449087

Family Applications (1)

Application Number Title Priority Date Filing Date
GB9226931A Expired - Fee Related GB2263180B (en) 1992-01-03 1992-12-24 Determination of the transverse velocity of a vehicle and/or the drift angle

Country Status (3)

Country Link
JP (1) JPH05270422A (en)
DE (1) DE4200061C2 (en)
GB (1) GB2263180B (en)

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DE4226749C2 (en) * 1992-08-13 1996-02-08 Daimler Benz Ag Method for determining variables that characterize driving behavior
DE4325413C2 (en) * 1993-07-29 1995-05-18 Daimler Benz Ag Method for determining the behavior of characteristic quantities
DE4419979C2 (en) * 1994-06-08 1997-09-04 Bayerische Motoren Werke Ag Method for determining the slip angle and / or the transverse slip of a wheel in motor vehicles
DE4430458A1 (en) * 1994-08-27 1996-02-29 Teves Gmbh Alfred Method for determining the lateral acceleration of a vehicle
US5774821A (en) 1994-11-25 1998-06-30 Itt Automotive Europe Gmbh System for driving stability control
US5742507A (en) 1994-11-25 1998-04-21 Itt Automotive Europe Gmbh Driving stability control circuit with speed-dependent change of the vehicle model
US5701248A (en) 1994-11-25 1997-12-23 Itt Automotive Europe Gmbh Process for controlling the driving stability with the king pin inclination difference as the controlled variable
US5735584A (en) * 1994-11-25 1998-04-07 Itt Automotive Europe Gmbh Process for driving stability control with control via pressure gradients
DE19515055A1 (en) * 1994-11-25 1996-05-30 Teves Gmbh Alfred Motor-vehicle ride stability regulator with speed-dependent model choice
US5671143A (en) * 1994-11-25 1997-09-23 Itt Automotive Europe Gmbh Driving stability controller with coefficient of friction dependent limitation of the reference yaw rate
JP3008833B2 (en) * 1995-10-25 2000-02-14 トヨタ自動車株式会社 Estimation device for vehicle body skidding speed
JP3060923B2 (en) * 1995-11-24 2000-07-10 トヨタ自動車株式会社 Vehicle state estimation device
US5899952A (en) * 1995-12-27 1999-05-04 Toyota Jidosha Kabushiki Kaisha Device for estimating slip angle of vehicle body through interrelation thereof with yaw rate
DE19607429B4 (en) * 1996-02-28 2004-02-19 Daimlerchrysler Ag Fault-tolerant control device for a physical system, in particular vehicle dynamics control device for a motor vehicle
DE19617590A1 (en) * 1996-05-02 1997-11-06 Teves Gmbh Alfred Method for determining a target vehicle behavior
US5895433A (en) * 1996-05-23 1999-04-20 General Motors Corporation Vehicle chassis system control method and apparatus
US5667286A (en) * 1996-05-29 1997-09-16 General Motors Corporation Brake control system
DE19623596A1 (en) * 1996-06-13 1997-12-18 Teves Gmbh Alfred Brake system with a device for active brake actuation
US6325469B1 (en) 1996-09-06 2001-12-04 General Motors Corporation Brake control system
US5720533A (en) * 1996-10-15 1998-02-24 General Motors Corporation Brake control system
US5941919A (en) * 1996-10-16 1999-08-24 General Motors Corporation Chassis control system
US5746486A (en) * 1996-10-16 1998-05-05 General Motors Corporation Brake control system
US5686662A (en) * 1996-10-16 1997-11-11 General Motors Corporation Brake control system
US6547343B1 (en) 1997-09-08 2003-04-15 General Motors Corporation Brake system control
DE19744725A1 (en) * 1997-10-10 1999-04-15 Itt Mfg Enterprises Inc Method to determine variable characteristics, which define motor vehicle behavior
US6035251A (en) * 1997-11-10 2000-03-07 General Motors Corporation Brake system control method employing yaw rate and ship angle control
US6233513B1 (en) * 1997-11-27 2001-05-15 Masato Abe Method and system for computing a vehicle body slip angle in a vehicle movement control
US6205391B1 (en) 1998-05-18 2001-03-20 General Motors Corporation Vehicle yaw control based on yaw rate estimate
US6125319A (en) * 1998-08-17 2000-09-26 General Motors Corporation Brake system control method responsive to measured vehicle acceleration
US6112147A (en) * 1998-08-17 2000-08-29 General Motors Corporation Vehicle yaw rate control with bank angle compensation
US6079800A (en) * 1998-08-20 2000-06-27 General Motors Corporation Active brake control with front-to-rear proportioning
US6169951B1 (en) 1998-08-21 2001-01-02 General Motors Corporation Active brake control having yaw rate estimation
US6056371A (en) * 1998-08-24 2000-05-02 General Motors Corporation Feed-forward active brake control
US6175790B1 (en) 1998-08-24 2001-01-16 General Motors Corporation Vehicle yaw rate control with yaw rate command limiting
US5931887A (en) * 1998-09-24 1999-08-03 General Motors Corporation Brake control method based on a linear transfer function reference model
US6161905A (en) * 1998-11-19 2000-12-19 General Motors Corporation Active brake control including estimation of yaw rate and slip angle
US6195606B1 (en) 1998-12-07 2001-02-27 General Motors Corporation Vehicle active brake control with bank angle compensation
FR2807836A1 (en) * 2000-04-18 2001-10-19 Michelin Soc Tech Method of regulation of the stability control system of an automobile vehicle, based on the existing stress at the center of each wheel of the vehicle
EP1147960A1 (en) 2000-04-18 2001-10-24 Société de Technologie Michelin Vehicle stability control method using tyre lateral forces
JP3601487B2 (en) * 2000-11-20 2004-12-15 トヨタ自動車株式会社 Vehicle braking / driving force control device
DE10160048B4 (en) * 2000-12-30 2005-09-15 Robert Bosch Gmbh System and method for monitoring the cornering behavior of a motor vehicle
DE10102002A1 (en) * 2001-01-18 2002-07-25 Bosch Gmbh Robert Method and device for coordinating interventions in the driving behavior of a vehicle
DE10121386C1 (en) 2001-05-02 2002-08-29 Daimler Chrysler Ag Method for controlling a reversible occupant protection device in a motor vehicle
DE50207264D1 (en) * 2001-09-14 2006-08-03 Bayerische Motoren Werke Ag Method for compensating for a yaw moment that occurs during braking
FR2830824A1 (en) 2001-10-17 2003-04-18 Michelin Soc Tech ACTIONS ON THE TRAJECTORY OF A VEHICLE FROM MEASUREMENT OF TRANSVERSE EFFORTS, TAKING ACCOUNT OF ITS INERTIA
EP1483142A1 (en) * 2002-03-13 2004-12-08 DaimlerChrysler AG Method and device for detecting parameters characterizing the driving behavior of a vehicle
DE102005036708A1 (en) * 2005-02-16 2006-08-31 Daimlerchrysler Ag Stabilization device and method for driving stabilization of a vehicle based on a lateral force coefficient
DE102005024875B3 (en) 2005-05-31 2006-10-12 Siemens Ag Method of determining the current yaw angle and side slip angle of a land vehicle using the current speed vector angle
DE102006008273A1 (en) * 2006-02-22 2007-08-30 Siemens Ag Future lane forecast method e.g. for vehicle, involves determining speeds of wheels of vehicle and dependent on these wheel speeds vehicle variable state is estimated
US8321088B2 (en) 2006-08-30 2012-11-27 Ford Global Technologies Integrated control system for stability control of yaw, roll and lateral motion of a driving vehicle using an integrated sensing system to determine lateral velocity
DE102007059136B4 (en) * 2007-12-08 2014-01-09 Ford Global Technologies, Llc Method and device for condition estimation of vehicles
DE102009056674B4 (en) * 2009-12-02 2023-11-30 Volkswagen Ag Device and method for influencing the lateral dynamics of a motor vehicle
JP5910265B2 (en) * 2012-04-11 2016-04-27 トヨタ自動車株式会社 Vehicle control device
US11702084B2 (en) * 2019-11-25 2023-07-18 The Goodyear Tire & Rubber Company Vehicle sideslip angle estimation system and method

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2257551A (en) * 1991-07-12 1993-01-13 Bosch Gmbh Robert Determination of a parameter of motion of a vehicle

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06104455B2 (en) * 1985-03-15 1994-12-21 日産自動車株式会社 Vehicle motion condition estimation device
DE4031304A1 (en) * 1990-10-04 1992-04-09 Bosch Gmbh Robert Model supported estimation of float angle - using vehicle speed from ABS system, steering angle sensor to derive transverse speed and hence float angle

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2257551A (en) * 1991-07-12 1993-01-13 Bosch Gmbh Robert Determination of a parameter of motion of a vehicle

Also Published As

Publication number Publication date
JPH05270422A (en) 1993-10-19
GB2263180A (en) 1993-07-14
DE4200061A1 (en) 1993-07-08
GB9226931D0 (en) 1993-02-17
DE4200061C2 (en) 2001-09-13

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Legal Events

Date Code Title Description
PCNP Patent ceased through non-payment of renewal fee

Effective date: 20051224