[미국특허]
METHOD FOR DETERMINING A SIDE SLIP ANGLE DURING CORNERING OF A MOTOR VEHICLE, DRIVER ASSISTANCE SYSTEM FOR CARRYING OUT THE METHOD, AND MOTOR VEHICLE
원문보기
IPC분류정보
국가/구분
United States(US) Patent
공개
국제특허분류(IPC7판)
B60W-030/18
B60W-040/101
B60W-040/114
B60W-010/20
B60W-010/18
출원번호
17512411
(2021-10-27)
공개번호
20220048511
(2022-02-17)
우선권정보
DE-10 2019 112 900.1 (2019-05-16)
발명자
/ 주소
Munko, Tobias
Behrens, Timo Pascal
Oldemeyer, Bernd
출원인 / 주소
Munko, Tobias
인용정보
피인용 횟수 :
0인용 특허 :
0
초록▼
A method is for determining a side slip angle during the cornering of a vehicle. The following variables are recorded and interlinked via a mathematical vehicle model with assumptions of the linear single-track model: a predetermined or measured position of the center of gravity between a front and
A method is for determining a side slip angle during the cornering of a vehicle. The following variables are recorded and interlinked via a mathematical vehicle model with assumptions of the linear single-track model: a predetermined or measured position of the center of gravity between a front and rear axle, the current vehicle velocity, a current vehicle cornering motion variable, the current steering angle on the front axle. To simplify the determination of the side slip angle, it is determined under the assumption that the difference between the side slip angle and the Ackermann side slip angle is proportional to the difference between the Ackermann angle and the steering angle. The actual side slip angle is deduced from the relationship of the measured steering angle and the Ackermann angle based on the proportionality relationship of the Ackermann side slip angle theoretically present when driving through the same curve without slip.
대표청구항▼
1. A method for determining a side slip angle during cornering of a motor vehicle, the method comprising: detecting and linking input variables to each other via a mathematical vehicle model using assumptions of a linear single-track model, wherein the input variable include: a predetermined or meas
1. A method for determining a side slip angle during cornering of a motor vehicle, the method comprising: detecting and linking input variables to each other via a mathematical vehicle model using assumptions of a linear single-track model, wherein the input variable include: a predetermined or measured position of a center of gravity of the motor vehicle between a front axle and a rear axle of the motor vehicle,a vehicle velocity of the motor vehicle which is current,a cornering motion variable of the motor vehicle which is current,a steering angle on the front axle which is current,determining, in the case of stable cornering of the motor vehicle, the side slip angle under an assumption that a difference between the side slip angle and an Ackermann side slip angle is proportional to a difference between an Ackermann angle and the steering angle, wherein the side slip angle is deduced from a relationship between the detected steering angle and the Ackermann angle based on a proportionality relationship of the Ackermann side slip angle which is theoretically present when driving through an identical curve without slip. 2. The method of claim 1, wherein the side slip angle is determined as a difference of a first quotient of twice a rear axle distance of the center of gravity from the rear axle divided by a radius of the curve, which is taken into account as a ratio of the vehicle velocity to the cornering motion variable, and a second quotient of the product of the steering angle and the rear axle distance divided by a wheelbase between the front axle and the rear axle. 3. The method of claim 1, wherein a yaw rate is determined or measured as the cornering motion variable. 4. The method of claim 2, wherein a yaw rate is determined or measured as the cornering motion variable. 5. The method of claim 4, wherein the first quotient is determined from a product of twice the rear axle distance and the yaw rate divided by the vehicle velocity. 6. The method of claim 1, wherein a lateral acceleration is determined or measured as the cornering motion variable. 7. The method of claim 3, wherein a lateral acceleration is determined or measured as the cornering motion variable; and, in cases without stable cornering, the side slip angle is determined by integrating a difference between the measured yaw rate and a value of the yaw rate which is derived from the lateral acceleration. 8. A driver assistance system for motor vehicles which is configured to carry out the method for determining a side slip angle of claim 1, wherein a mathematical model is predetermined for the driver assistance system with the assumptions of the linear single-track model for linking the following input variables: the predetermined or measured position of the center of gravity of the motor vehicle between a front axle and a rear axle of the motor vehicle,the current vehicle velocity of the motor vehicle,the current cornering motion variable of the motor vehicle,the current steering angle on the front axle, wherein the mathematical vehicle model for the determination of the side slip angle in stable cornering of the motor vehicle contains the assumption that the difference between the side slip angle and the Ackermann side slip angle is proportional to the difference between the Ackermann angle and the steering angle, wherein the driver assistance system is configured to deduce the actual side slip angle from the relationship of the measured steering angle and the Ackermann angle based on the proportionality relationship of the Ackermann side slip angle which is theoretically present when driving through the identical curve without slip. 9. The driver assistance system of claim 8, wherein said driver assistance system is configured to determine at least one of active steering interventions and active braking interventions taking into account the side slip angle. 10. The driver assistance system of claim 8, wherein the driver assistance system is configured to determine trajectories taking into account the side slip angle. 11. The driver assistance system of claim 8, wherein the driver assistance system is configured to detect oversteer or understeer tendencies taking into account the side slip angle. 12. The driver assistance system of claim 8 further comprising: a non-transitory computer readable storage medium;a program code stored on said non-transitory computer readable storage medium; and,said program code being configured to carry out the method when executed by a processor. 13. The driver assistance system of claim 8 further comprising: a non-transitory computer readable storage medium; and,said mathematical model being stored on said non-transitory computer readable storage medium. 14. A motor vehicle comprising: a driver assistance system configured to carry out the method for determining a side slip angle of claim 1;wherein a mathematical model is predetermined for the driver assistance system with the assumptions of the linear single-track model for linking the following input variables: the predetermined or measured position of the center of gravity of the motor vehicle between a front axle and a rear axle of the motor vehicle,the current vehicle velocity of the motor vehicle,the current cornering motion variable of the motor vehicle,the current steering angle on the front axle, wherein the mathematical vehicle model for the determination of the side slip angle in stable cornering of the motor vehicle contains the assumption that the difference between the side slip angle and the Ackermann side slip angle is proportional to the difference between the Ackermann angle and the steering angle, wherein the driver assistance system is configured to deduce the actual side slip angle from the relationship of the measured steering angle and the Ackermann angle based on the proportionality relationship of the Ackermann side slip angle which is theoretically present when driving through the identical curve without slip. 15. The motor vehicle of claim 14 further comprising: a non-transitory computer readable storage medium;a processor;a program code stored on said non-transitory computer readable storage medium; and,said program code being configured to carry out the method when executed by the processor. 16. The motor vehicle of claim 14 further comprising: a non-transitory computer readable storage medium; and,said mathematical model being stored on said non-transitory computer readable storage medium.
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