Data processing: vehicles – navigation – and relative location – Vehicle control – guidance – operation – or indication – Indication or control of braking – acceleration – or deceleration
Patent
1998-02-26
2000-04-18
Zanelli, Michael J.
Data processing: vehicles, navigation, and relative location
Vehicle control, guidance, operation, or indication
Indication or control of braking, acceleration, or deceleration
701 74, 303163, B60T 800
Patent
active
060526432
DESCRIPTION:
BRIEF SUMMARY
BACKGROUND OF THE INVENTION
The present invention relates to a method of cornering identification provided for use in an anti-lock control system, wherein the rotational behavior of the vehicle wheels is measured by wheel sensors and evaluated to determine a vehicle reference speed which is used as a reference value for ascertaining the wheel slip and for braking pressure modulation, and wherein criteria for cornering identification and the direction of cornering are derived from the wheel slip.
German patent No. 34 13 738 (P 5547) discloses a circuitry for an anti-lock brake system wherein for cornering identification the slip values on the wheels of one vehicle side are added and compared with the slip sum of the wheels of the other vehicle side, and the cornering identification signal is produced as soon as the difference of the slip sums of both vehicle sides exceeds a predetermined limit value. In the brake system concerned, the braking pressure variation in individual braking pressure control channels is combined according to predefined selection criteria, such as Aselect-low@ or Aselect-high@. The selection criteria and predetermined limit values which also influence the control are changed when cornering is detected.
In an anti-lock system described in German patent application No. 21 19 590, a cornering identification signal is produced by means of a transverse acceleration measuring device, for example, a mercury switch.
Further, German patent application No. 19 65 391 discloses an anti-lock control system which determines the slip values of the individual wheels and takes them into account for the braking pressure control.
Difficulties are involved in identifying cornering and adapting anti-lock control to the different conditions prevailing during straight travel and cornering. If the control data, as is conventional practice with an anti-lock system, are produced exclusively or mainly by means of wheel sensors, the wheel slip caused by cornering must be distinguished from slip which is caused by locking tendencies or induced by the control. Principally, it would be desired to take an information about straight travel or cornering into account for the control. However, the use of a steering angle sensor, transverse acceleration sensor, or the like, which could supply such an information, is generally rejected for cost reasons. In more complex control systems, for example, in driving stability control systems (DSC, ASMS), however, it is absolutely imperative to bear the increased expenditure for sensors of the above-mentioned type.
An object of the present invention is to achieve an exact cornering identification in a simple fashion and without additional sensors, i.e., only on the basis of the data supplied by the wheel sensors.
SUMMARY OF THE INVENTION
It has been found that this object can be achieved by the method described in accordance with the present invention, the special features of which involve that the wheel slip signals are filtered and the filtered signals are compared and that Acornering@ is identified when simultaneously the filtered wheel slip on the two front wheels is in excess of a predetermined front-wheel-related maximum slip value that is responsive to the instantaneous vehicle speed or vehicle reference speed, and the filtered wheel slip of one rear wheel is above and the filtered wheel slip of the other rear wheel is below a predetermined rear-wheel-related maximum slip value that is responsive to the vehicle reference speed or below a predetermined minimum slip value responsive to the vehicle (reference) speed, and the rear wheel having the lower slip value or the higher speed is assessed as the curve-outward rear wheel to determine the direction of cornering.
When conventional circuitries, such as those of microcomputers and like elements, and circuits or program steps having a low-pass filter characteristic are used, favorably, the filtered wheel slip signal is produced according to the relation ascertained in the working cycle and >fws.sub.alt = refers to the
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ITT Manufacturing Enterprises Inc.
Zanelli Michael J.
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