Data processing: vehicles – navigation – and relative location – Vehicle control – guidance – operation – or indication – Indication or control of braking – acceleration – or deceleration
Reexamination Certificate
2005-06-21
2005-06-21
Zanelli, Michael J. (Department: 3661)
Data processing: vehicles, navigation, and relative location
Vehicle control, guidance, operation, or indication
Indication or control of braking, acceleration, or deceleration
C701S041000, C701S048000, C701S091000, C180S443000, C180S445000, C180S446000
Reexamination Certificate
active
06909957
ABSTRACT:
For the purpose of controlling the yaw dynamics and lateral dynamics in a road vehicle with electrically controlled four-wheel steering, in the case of which the setting of the front axle steer angle δvand of the rear axle steer angle δhis performed by means of mutually decoupled control loops, a desired value δvsollfor the lateral force Svto be built up at the front axle is determined in the control loop assigned to the front axle and, for this desired value Svsoll, the value of the slip angle, linked to the desired value Svsoll, is determined as desired value αvsollfrom an Sv(αv) characteristic representing the dependence of the lateral force Sv, to be built up at the front axle, on the slip angle αv. In the control loop assigned to the rear axle, a desired value Shsollfor the lateral force Shto be built up at the rear axle is determined in a control process in accordance with a controller law of the formShsoll=lv·m·vxL·[Ψ.-βhsoll+k1·(βh-β-hsoll)]and, for this desired value Shsoll, the value of the slip angle, linked to the desired value Shsoll, is determined as desired value αhsollfrom an Sh(αh) characteristic. These desired values αvsolland αhsollare used to determine the desired values δvsolland δhsollof the steer angle, taking account of an estimated value of the sideslip angle β at the center of gravity of the vehicle, the position of the center of gravity and measured or estimated values of the yaw velocity {dot over (Ψ)} and of the longitudinal speed vxof the vehicle.
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Crowell & Moring LLP
Daimler-Chrysler AG
Gibson Eric M.
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