Process for controlling driving dynamics of a street vehicle
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United States of America Patent
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Apr 24, 2001
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N/A
app pub date -
Mar 22, 1999
filing date -
Mar 20, 1998
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Abstract
For regulating the driving dynamics of a road vehicle, setpoints for the yaw rate .PSI. 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 .PSI..sub.SO as a setpoint, and the actual values .PSI..sub.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].multidot.({dot over (X)})=[Q].multidot.(X)+(C).multidot..delta.(t). The driving-dynamic state values .beta..sub.Z (k-1) and .PSI..sub.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 T.sub.K, by evaluation of the system of equations ##EQU1## with the values of the matrix elements p.sub.ij and q.sub.ij updated for that point in time T.sub.K.
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