Patent ID: 6223114
Filing Date: 2001-04-24
Classification: B60T

Abstract:
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 .beta. of the vehicle are generated, under clock control in sequential cycles of a presettable duration T.sub.K, 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 .delta. and vehicle speed v.sub.x, 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..sub.SO as a setpoint for the yaw rate of the vehicle and actual values .PSI..sub.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; whereinthe vehicle model is implemented by a linear differential equation system of the form[P].multidot.({dot over (X)})=[Q].multidot.(X)+(C).multidot..delta.(t)in which [P] represents a 4.times.4 matrix with elements p.sub.ij (p.sub.ij =0,m.sub.Z v,0,0; 0,0,0,J.sub.Z ; 0,0,0,0; 0,-1,0,0) m.sub.Z being a mass of the vehicle, J.sub.Z being a yaw moment of inertia of the vehicle, and v being a lengthwise velocity of the vehicle; [Q] represents a 4.times.4 matrix with elements q.sub.ij (q.sub.ij =0, -C.sub.v -C.sub.H, 0, -m.sub.z.multidot.v-(C.sub.v 1.sub.v -C.sub.H 1.sub.H)/v; 0, C.sub.H 1.sub.H -C.sub.v 1.sub.v, 0, (-1.sub.v.sup.2 C.sub.v -1.sub.H.sup.2 C.sub.H)/v; 0,0,0,0; 0,0,0,1), C.sub.V and C.sub.H being diagonal travel stiffnesses of front and rear wheels of the vehicle respectively, and l.sub.V and l.sub.H 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 c.sub.i (c.sub.i =c.sub.V,C.sub.V l.sub.V,0,0); X represents a four-component column vector formed from state values .beta..sub.Z and .PSI..sub.z with components x.sub.i (x.sub.i =0, .beta..sub.z, 0, .PSI..sub.z); and {dot over (X)} represents the time derivative dX/dt of the column vector X; anddriving-dynamic state values .beta..sub.Z (k-1) and .PSI..sub.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 T.sub.K, by evaluation of a system of equations ##EQU61##with values of matrix elements p.sub.ij and q.sub.ij that are updated at a point in time t(k).