DE3625392A1 - Control system for preventing skidding movements of a motor vehicle - Google Patents

Control system for preventing skidding movements of a motor vehicle

Info

Publication number
DE3625392A1
DE3625392A1 DE19863625392 DE3625392A DE3625392A1 DE 3625392 A1 DE3625392 A1 DE 3625392A1 DE 19863625392 DE19863625392 DE 19863625392 DE 3625392 A DE3625392 A DE 3625392A DE 3625392 A1 DE3625392 A1 DE 3625392A1
Authority
DE
Germany
Prior art keywords
rotational speed
control unit
speed
motor vehicle
control system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
DE19863625392
Other languages
German (de)
Inventor
Edgar Dipl Phys Weidel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Licentia Patent Verwaltungs GmbH
Original Assignee
Licentia Patent Verwaltungs GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Licentia Patent Verwaltungs GmbH filed Critical Licentia Patent Verwaltungs GmbH
Priority to DE19863625392 priority Critical patent/DE3625392A1/en
Publication of DE3625392A1 publication Critical patent/DE3625392A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention relates to a control system for a motor vehicle with which skidding movements can be automatically corrected without steering movements being required. The latter is achieved by selective braking and/or acceleration and/or correction of the steering angle of individual wheels. The required control signals are produced in particular with the aid of a fibre gyroscope which [lacuna] the actual rotation which can be determined from travel speed and steering angle of the (front) wheels.

Description

Die Erfindung betrifft ein Regelsystem zur Verhinderung von Schleuderbewegungen eines Kraftfahrzeuges nach dem Oberbegriff des Patentanspruchs 1.The invention relates to a control system for prevention of spin movements of a motor vehicle according to the Preamble of claim 1.

Ein derartiges Regelsystem ist z.B. in einem sogenannten Antiblockiersystem enthalten, durch welches bei einem Bremsvorgang ein Blockieren der Räder eines Kraftfahrzeu­ ges, z.B. eines Personen- oder Lastkraftwagens oder eines Omnibusses, vermieden wird, so daß dieses lenkbar bleibt.Such a control system is e.g. in a so-called Anti-lock braking system included, through which one Braking a blockage of the wheels of a motor vehicle tot, e.g. a passenger or truck or one Omnibusses is avoided, so that this remains manageable.

Ein derartiges Regelsystem hat den Nachteil, daß insbeson­ dere bei einer unvorhersehbaren Schleuderbewegung des Kraftfahrzeuges immer noch ein hohes fahrerisches Können des Kraftfahrzeuglenkers erforderlich ist, um das Kraft­ fahrzeug wieder in einen leicht beherrschbaren Fahrzustand zu bringen.Such a control system has the disadvantage that in particular in the event of an unpredictable skidding movement of the Motor vehicle still a high level of driving skill the driver is necessary to the force  vehicle in an easily manageable driving state again bring to.

Der Erfindung liegt daher die Aufgabe zugrunde, ein gat­ tungsgemäßes Regelsystem anzugeben, mit dem ein Schleudern und/oder Driften eines Kraftfahrzeuges vermeidbar ist.The invention is therefore based on the object of a gat to specify the appropriate control system with which skidding and / or drifting of a motor vehicle can be avoided.

Diese Aufgabe wird gelöst durch die im kennzeichnenden Teil des Patentanspruchs 1 angegebenen Merkmale. Vorteil­ hafte Ausgestaltungen und/oder Weiterbildungen sind den Unteransprüchen entnehmbar.This problem is solved by the in the characteristic Part of claim 1 specified features. Advantage sticky refinements and / or further training are the Removable subclaims.

Ein Vorteil der Erfindung besteht darin, daß bereits eine geringe ungefährliche, vom Kraftfahrzeuglenker unbemerkte Schleuderbewegung ohne dessen Zutun ausregelbar ist, so daß ein möglicher Unfall, z.B. infolge eines sogenann­ ten Ausbrechens des Kraftfahrzeuges aus der Fahrtrichtung, vermeidbar ist.An advantage of the invention is that one low harmless, unnoticed by the driver Spin movement can be regulated without its intervention, so that a possible accident, e.g. as a result of a so-called breaking out of the motor vehicle from the direction of travel, is avoidable.

Die Erfindung wird im folgenden anhand von Ausführungsbei­ spielen näher erläutert.The invention is described below with reference to exemplary embodiments play explained in more detail.

Die Erfindung beruht auf der Erkenntnis, daß mit Hilfe eines sogenannten faseroptischen Ringinterferometers, das auch Faserkreisel genannt wird, z.B. gemäß der DE-OS 31 15 804, in kostengünstiger Weise ein zuverlässiger und mecha­ nisch robuster Drehgeschwindigkeitssensor herstellbar ist, der für die Anwendung in einem Kraftfahrzeug geeignet ist. Mit einem derartigen Drehgeschwindigkeitssensor ist eine Ist-Drehgeschwindigkeit, z.B. in einem Bereich von 0,1 °/sec bis 200 °/sec, des Kraftfahrezeuges um eine Achse meßbar, die senkrecht auf der Fahrbahnebene steht. Anderer­ seits ist aus der Fahrgeschwindigkeit in Längsrichtung des Kraftfahrzeuges, welche z.B. mit Hilfe eines Tachometers und/oder eines entsprechenden Geschwindigkeitssensors gemessen wird, und dem Lenkwinkel der lenkbaren Räder, insbesondere der Vorderräder, eine Soll-Drehgeschwindig­ keit bestimmbar. Durch den vom Kraftfahrzeuglenker am Lenkrad eingestellten Lenkwinkel ist der Krümmungsradius einer zu durchfahrenden Kurve bestimmt. Der Lenkwinkel ist daher z.B. dadurch meßbar, daß mit Hilfe eines sogenannten Drehwinkelgebers der Drehwinkel des Lenkrades gemessen wird. Ist nun, z.B. beim Durchfahren einer Kurve mit überhöhter Geschwindigkeit, die Ist- Drehgeschwindigkeit ungleich der Soll-Drehgeschwindigkeit, so schleudert das Kraftfahrzeug. Eine solche Schleuderbewegung ist im allge­ meinen unerwünscht, da diese insbesondere bei ungeübten Fahrern zu einem Unfall führen kann. Zur Vermeidung einer derartigen Schleuderbewegung werden der Ist- und Soll- Drehgeschwindigkeit entsprechende Signale beispielsweise einem Mikroprozessor zugeführt, der daraus, z.B. durch Differenz- und/oder Quotientenbildung, ein Korrektursignal erzeugt, durch welches die Drehgeschwindigkeit und/oder der Lenkwinkel von mindestens einem Rad solange geändert wird bis Ist- und Soll-Drehgeschwindigkeit im wesentlichen übereinstimmen. Dieses ist z.B. durch Abbremsen lediglich eines Rades möglich, entsprechend dem eingangs erwähnten Antiblockiersystem. Weiterhin ist es z.B. möglich, ein Antriebsrad abzubremsen und ein auf derselben Radachse vorhandenes zweites Antriebsrad zu beschleunigen. Diese ist möglich, da die Antriebsräder über ein Differential­ getriebe verbunden sind. Derartige Drehgeschwindigkeits­ änderungen einzelner Räder sind durch eine Regeleinheit möglich, welche das Bremssystem und/oder den Motor des Kraftfahrzeuges entsprechend beeinflußt. Ein unerwünschtes Schleudern des Kraftfahrzeuges wird dadurch rechtzeitig erkannt und selbsttätig ohne Bewegung des Lenkrades korri­ giert.The invention is based on the knowledge that with the help a so-called fiber-optic ring interferometer, the also called fiber gyroscope, e.g. according to DE-OS 31 15 804, in a cost-effective manner, a reliable and mecha nically robust rotational speed sensor can be produced, which is suitable for use in a motor vehicle. With such a rotational speed sensor Actual rotational speed, e.g. in a range of 0.1 ° / sec to 200 ° / sec, the motor vehicle around an axis  measurable, which is perpendicular to the road surface. Other is from the driving speed in the longitudinal direction of the Motor vehicle, which e.g. with the help of a tachometer and / or a corresponding speed sensor and the steering angle of the steerable wheels, especially the front wheels, a target turning speed can be determined. By the car driver on Steering wheel set steering angle is the radius of curvature a curve to be traversed. The steering angle is therefore e.g. measurable in that with the help of a so-called Angle of rotation encoder measured the angle of rotation of the steering wheel becomes. Now, e.g. when driving through a curve with excessive speed, the actual rotational speed not equal to the target rotation speed, so it hurls Motor vehicle. Such a slingshot movement is common mean undesirable, as this is especially inexperienced Can lead to an accident. To avoid a the actual and target Rotation speed corresponding signals, for example supplied to a microprocessor which, e.g. by Difference and / or quotient formation, a correction signal generated by which the rotational speed and / or the steering angle of at least one wheel changed as long becomes essentially up to actual and target rotational speed to match. This is e.g. by braking only a wheel possible, according to the aforementioned Anti-lock braking system. Furthermore it is e.g. possible one Brake the drive wheel and one on the same wheel axle to accelerate the existing second drive wheel. These is possible because the drive wheels have a differential gearbox are connected. Such speed of rotation  Changes to individual wheels are through a control unit possible, which the braking system and / or the engine of the Motor vehicle influenced accordingly. An unwanted one This will skid the motor vehicle in time recognized and automatically correct without moving the steering wheel yaws.

Außerdem ist es möglich, gleichzeitig oder alternativ den Leitwinkel mindestens eines lenkbaren Rades, z.B. eines Vorderrades, so zu beeinflussen, daß ein Schleuder­ vorgang vermieden wird. Dieses ist z.B. dadurch erreich­ bar, daß die Regeleinheit ein entsprechendes Korrektursi­ gnal an einen Stellmotor abgibt, welcher den Lenkwinkel beeinflußt. Ein solcher Stellmotor wird auch als Servo­ lenkung bezeichnet.It is also possible to use it simultaneously or alternatively the guide angle of at least one steerable wheel, e.g. of a front wheel so as to affect a slingshot process is avoided. This is e.g. thereby achieved bar that the control unit has a corresponding correction gnal outputs to a servomotor, which the steering angle influenced. Such an actuator is also called a servo steering designated.

Bei einem Schleudervorgang kann ein zusätzliches Driften auftreten, das heißt, das Kraftfahrzeug bewegt sich paral­ lel zur Fahrbahnebene und senkrecht zur Fahrzeuglängs­ achse. Ein solches Driften ist durch mindestens einen Beschleunigungssensor meßbar und durch die Regeleinheit in der beschriebenen Weise ausgleichbar.Additional drifting can occur during a spin cycle occur, that is, the motor vehicle moves in parallel lel to the road level and perpendicular to the vehicle lengthways axis. Such drifting is by at least one Accelerometer measurable and by the control unit in compensated for in the manner described.

Alternativ zu dem Faserkreisel ist es möglich, die Ist- Drehgeschwindigkeit durch mindestens einen Beschleunigungs­ sensor zu messen, welcher bei einer Kurvenfahrt die Radial­ beschleunigung des Kraftfahrzeuges mißt.As an alternative to the fiber gyroscope, it is possible to Speed of rotation by at least one acceleration sensor to measure which the radial when cornering acceleration of the motor vehicle measures.

Es ist zweckmäßig, beim Auftreten unterschiedlicher Soll- und Ist-Drehgeschwindigkeiten den Fahrer des Kraftfahr­ zeuges zu informieren, z.B. mit Hilfe optischer und/oder akustischer und/oder mechanischer Signale (z.B. Rütteln des Gas- und/oder Bremspedals), damit dieser die Fahrweise ändert, z.B. durch Verringern der Fahrgeschwindigkeit.It is advisable to use different target and actual rotational speeds the driver of the motor vehicle information, e.g. with the help of optical and / or acoustic and / or mechanical signals (e.g. shaking of the gas and / or brake pedal), so that the driving style changes, e.g. by reducing the driving speed.

Claims (8)

1. Regelsystem zur Verhinderung von Schleuderbewegun­ gen eines Kraftfahrzeuges, insbesondere bestehend aus einer Regeleinheit, durch welche die Drehgeschwindigkeit von mindestens einem Rad unabhängig von der Drehgeschwin­ digkeit der übrigen Räder regelbar ist, dadurch gekenn­ zeichnet,
  • - daß die Regeleinheit mindestens einen Drehgeschwin­ digkeitssensor enthält, welcher eine Ist-Drehge­ schwindigkeit des Kraftfahrzeuges um eine Achse detektiert, die im wesentlichen senkrecht auf der Fahrbahnebene steht,
  • - daß die Regeleinheit mindestens einen Geschwindig­ keitssensor enthält, welcher die Fahrgeschwindigkeit in der Längsrichtung des Kraftfahrzeuges detektiert,
  • - daß die Regeleinheit mindestens einen Winkelsensor enthält, welcher den Lenkwinkel zumindest der lenk­ baren Räder detektiert,
  • - daß in der Regeleinheit aus dem Lenkwinkel umd der Fahrgeschwindigkeit eine Soll-Drehgeschwindigkeit bestimmbar ist,
  • - daß bei einer Abweichung der lst-Drehgeschwindigkeit von der Soll-Drehgeschwindigkeit in der Regeleinheit ein Korrektursignal entsteht und
  • - daß die Regeleinheit in Abhängigkeit von dem Korrek­ tursignal die Drehgeschwindigkeit und/oder den Lenkwin­ kel von mindestens einem Rad derart ändert, daß Ist- Drehgeschwindigkeit und Soll-Drehgeschwindigkeit im wesentlichen gleich sind.
1. Control system for preventing skid movements of a motor vehicle, in particular consisting of a control unit by which the rotational speed of at least one wheel can be controlled independently of the speed of the other wheels, characterized in that
  • - That the control unit contains at least one speed sensor, which detects an actual speed of the motor vehicle about an axis which is substantially perpendicular to the roadway plane,
  • - That the control unit contains at least one speed sensor which detects the driving speed in the longitudinal direction of the motor vehicle,
  • that the control unit contains at least one angle sensor which detects the steering angle of at least the steerable wheels,
  • a target rotational speed can be determined in the control unit from the steering angle and the driving speed,
  • - That a correction signal arises in the control unit if the actual rotational speed deviates from the target rotational speed and
  • - That the control unit as a function of the correction signal, the rotational speed and / or the Lenkwin angle of at least one wheel changes such that the actual rotational speed and target rotational speed are substantially the same.
2. Regelsystem nach Anspruch 1, dadurch gekennzeichnet, daß der Drehgeschwindigkeitssensor mindestens ein faser­ optisches Ringinterferometer enthält.2. Control system according to claim 1, characterized in that the speed sensor at least one fiber contains optical ring interferometer. 3. Regelsystem nach Anspruch 1 oder Anspruch 2, dadurch gekennzeichnet, daß die Regeleinheit minde­ stens einen Beschleunigungssensor enthält, welcher zumin­ dest die Beschleunigung des Kraftfahrzeuges in der Fahr­ bahnebene senkrecht zur Fahrzeuglängsachse bestimmt.3. Control system according to claim 1 or claim 2, characterized characterized that the control unit min least contains an acceleration sensor, which at least least the acceleration of the motor vehicle in the driving path plane determined perpendicular to the longitudinal axis of the vehicle. 4. Regelsystem nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet,
  • - daß in der Regeleinheit die Ist-Drehgeschwindigkeit bestimmbar ist,
  • - daß in der Regeleinheit aus dem Ausgangssignal des Beschleunigungssensors zusätzlich ein Driften des Kraftfahrzeuges bestimmbar ist und
  • - daß durch die Regeleinheit die Drehgeschwindigkeit und/oder der Lenkwinkel von mindestens einem Rad derart änderbar ist, daß das Driften vermieden wird und/oder daß die Ist-Drehge­ schwindigkeit im wesentlichen gleich der Soll-Dreh­ geschwindigkeit wird.
4. Control system according to one of the preceding claims, characterized in that
  • that the actual rotational speed can be determined in the control unit,
  • - That in the control unit, a drift of the motor vehicle can also be determined from the output signal of the acceleration sensor and
  • - That the rotational speed and / or the steering angle of at least one wheel can be changed by the control unit in such a way that drifting is avoided and / or that the actual speed of rotation is substantially equal to the desired rotational speed.
5. Regelsystem nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß die Regeleinheit derart aus­ gebildet ist, daß die Drehgeschwindigkeit von mindestens einem Rad vergrößer- oder verkleinerbar ist.5. Control system according to one of the preceding claims, characterized in that the control unit consists of is formed that the rotational speed of at least a wheel can be enlarged or reduced. 6. Regelsystem nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß die Regeleinheit derart aus­ gebildet ist, daß die Drehgeschwindigkeit von mindestens einem Rad verkleinerbar ist und daß im wesentlichen gleichzeitig die Drehgeschwindigkeit von mindestens einem anderen Rad vergrößerbar ist.6. Control system according to one of the preceding claims, characterized in that the control unit consists of is formed that the rotational speed of at least a wheel is scalable and that essentially at the same time the speed of rotation of at least one other wheel can be enlarged. 7. Regelsystem nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß die Regeleinheit mindestens einen Mikroprozessor enthält, durch den zumindest die Ist- Drehgeschwindigkeit bestimmbar ist.7. Control system according to one of the preceding claims, characterized in that the control unit at least contains a microprocessor through which at least the actual Rotational speed is determinable. 8. Regelsystem nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, daß mindestens eine Signaleinrich­ tung vorhanden ist, durch welche dem Kraftfahrzeuglenker signalisierbar ist, daß die Ist-Drehgeschwindigkeit von der Soll-Drehgeschwindigkeit abweicht und/oder daß ein Driften vorhanden ist.8. Control system according to one of the preceding claims, characterized in that at least one signal device device is present, through which the motor vehicle driver can be signaled that the actual rotational speed of the target rotational speed differs and / or that a Drifting is present.
DE19863625392 1986-02-13 1986-07-26 Control system for preventing skidding movements of a motor vehicle Withdrawn DE3625392A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE19863625392 DE3625392A1 (en) 1986-02-13 1986-07-26 Control system for preventing skidding movements of a motor vehicle

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE3604429 1986-02-13
DE19863625392 DE3625392A1 (en) 1986-02-13 1986-07-26 Control system for preventing skidding movements of a motor vehicle

Publications (1)

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DE3625392A1 true DE3625392A1 (en) 1987-08-20

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DE19863625392 Withdrawn DE3625392A1 (en) 1986-02-13 1986-07-26 Control system for preventing skidding movements of a motor vehicle

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Cited By (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0323066A2 (en) * 1987-12-28 1989-07-05 Ford Motor Company Limited Automotive system for dynamically determining road adhesion
DE3825639A1 (en) * 1988-07-28 1990-02-01 Sepp Gunther Anti-skid system for motor vehicles
DE3939069A1 (en) * 1989-11-25 1991-05-29 Bosch Gmbh Robert Motor vehicle with rear-wheel slip correction device - has brake applied to driven wheel on outside of curve while inside wheel accelerates to restore stability
DE4123234C1 (en) * 1991-07-13 1992-08-27 Mercedes-Benz Aktiengesellschaft, 7000 Stuttgart, De
DE4123235C1 (en) * 1991-07-13 1992-11-26 Daimler Benz Ag
DE4123232A1 (en) * 1991-07-13 1993-01-14 Daimler Benz Ag METHOD FOR PREVENTING INSTABILITIES OF THE DRIVING BEHAVIOR OF A VEHICLE
DE4226746C1 (en) * 1992-08-13 1993-10-07 Daimler Benz Ag Method for determining a driving-dependent steering angle
DE19733674A1 (en) * 1997-08-04 1999-02-11 Itt Mfg Enterprises Inc Method for increasing the driving stability of a motor vehicle
US6085860A (en) * 1997-03-22 2000-07-11 Robert Bosch Gmbh Method and apparatus for operating a steering system for a motor vehicle
US6226579B1 (en) 1997-03-22 2001-05-01 Robert Bosch Gmbh Method and apparatus for operating a steering system for a motor vehicle
USRE37522E1 (en) 1988-06-15 2002-01-22 Aisin Seiki Kabushiki Kaisha Brake controlling system
DE3919347C3 (en) * 1988-06-15 2002-05-29 Aisin Seiki Device and method for controlling vehicle movement
DE19526250B4 (en) * 1995-07-18 2005-02-17 Daimlerchrysler Ag Braking and steering system for a vehicle
DE4446592B4 (en) * 1994-12-24 2005-08-04 Robert Bosch Gmbh Driving dynamics control system
DE4340932B4 (en) * 1993-12-01 2005-08-25 Robert Bosch Gmbh Method for regulating the driving stability of a motor vehicle
DE3943860B4 (en) * 1988-06-15 2005-09-15 Aisin Seiki K.K., Kariya Vehicle movement control method - using brakes to maintain stability depending on difference between wanted and measured yaw
DE19751227B4 (en) * 1997-03-22 2009-09-17 Robert Bosch Gmbh Method and device for operating a steering system for a motor vehicle
DE19723841B4 (en) * 1997-06-06 2010-02-18 Volkswagen Ag Motor vehicle and method for operating a motor vehicle with a device for controlling centrifugal movements
DE102009000947A1 (en) 2009-02-18 2010-08-19 Robert Bosch Gmbh Yaw rate control with simultaneous maximum delay
DE19751125B4 (en) * 1997-03-22 2011-11-24 Robert Bosch Gmbh Method and device for operating a steering system for a motor vehicle
DE112016005067T5 (en) 2015-12-01 2018-07-12 Scania Cv Ab METHOD AND SYSTEM FOR FACILITATING THE STEERING OF A VEHICLE WHILE DRIVING ALONG A STREET
DE112016005072T5 (en) 2015-12-01 2018-07-12 Scania Cv Ab Method and system for facilitating the steering of a vehicle while driving along a road
DE102015215802B4 (en) 2015-08-19 2024-06-06 Zf Friedrichshafen Ag Stabilization of a vehicle combination

Cited By (35)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0323066A2 (en) * 1987-12-28 1989-07-05 Ford Motor Company Limited Automotive system for dynamically determining road adhesion
EP0323066A3 (en) * 1987-12-28 1990-02-07 Ford Motor Company Limited Automotive system for dynamically determining road adhesautomotive system for dynamically determining road adhesion ion
DE3943860B8 (en) * 1988-06-15 2006-02-16 Aisin Seiki K.K., Kariya Method and device for controlling a vehicle movement
DE3943860B4 (en) * 1988-06-15 2005-09-15 Aisin Seiki K.K., Kariya Vehicle movement control method - using brakes to maintain stability depending on difference between wanted and measured yaw
DE3919347C3 (en) * 1988-06-15 2002-05-29 Aisin Seiki Device and method for controlling vehicle movement
USRE37522E1 (en) 1988-06-15 2002-01-22 Aisin Seiki Kabushiki Kaisha Brake controlling system
DE3825639A1 (en) * 1988-07-28 1990-02-01 Sepp Gunther Anti-skid system for motor vehicles
DE3939069A1 (en) * 1989-11-25 1991-05-29 Bosch Gmbh Robert Motor vehicle with rear-wheel slip correction device - has brake applied to driven wheel on outside of curve while inside wheel accelerates to restore stability
DE3939069C2 (en) * 1989-11-25 2002-07-04 Bosch Gmbh Robert motor vehicle
JP3245689B2 (en) 1991-07-13 2002-01-15 ダイムラー−ベンツ・アクチエンゲゼルシヤフト A method for detecting a running state of a vehicle's yawing motion
JPH05213219A (en) * 1991-07-13 1993-08-24 Mercedes Benz Ag Method for detecting running state regarding yawing operation of vehicle
US5471388A (en) * 1991-07-13 1995-11-28 Mercedes-Benz Ag Method and apparatus for preventing vehicle handling instabilities
DE4123234C1 (en) * 1991-07-13 1992-08-27 Mercedes-Benz Aktiengesellschaft, 7000 Stuttgart, De
DE4123235C1 (en) * 1991-07-13 1992-11-26 Daimler Benz Ag
US5341297A (en) * 1991-07-13 1994-08-23 Mercedes-Benz Ag Apparatus and method for preventing instabilities in vehicle handling
DE4123232A1 (en) * 1991-07-13 1993-01-14 Daimler Benz Ag METHOD FOR PREVENTING INSTABILITIES OF THE DRIVING BEHAVIOR OF A VEHICLE
FR2694735A1 (en) * 1992-08-13 1994-02-18 Daimler Benz Ag Method of determining a steering angle as a function of a driving situation
DE4226746C1 (en) * 1992-08-13 1993-10-07 Daimler Benz Ag Method for determining a driving-dependent steering angle
DE4340932B4 (en) * 1993-12-01 2005-08-25 Robert Bosch Gmbh Method for regulating the driving stability of a motor vehicle
DE4446592B4 (en) * 1994-12-24 2005-08-04 Robert Bosch Gmbh Driving dynamics control system
DE19526250B4 (en) * 1995-07-18 2005-02-17 Daimlerchrysler Ag Braking and steering system for a vehicle
DE19751125B4 (en) * 1997-03-22 2011-11-24 Robert Bosch Gmbh Method and device for operating a steering system for a motor vehicle
US6085860A (en) * 1997-03-22 2000-07-11 Robert Bosch Gmbh Method and apparatus for operating a steering system for a motor vehicle
DE19751227B4 (en) * 1997-03-22 2009-09-17 Robert Bosch Gmbh Method and device for operating a steering system for a motor vehicle
US6226579B1 (en) 1997-03-22 2001-05-01 Robert Bosch Gmbh Method and apparatus for operating a steering system for a motor vehicle
DE19723841B4 (en) * 1997-06-06 2010-02-18 Volkswagen Ag Motor vehicle and method for operating a motor vehicle with a device for controlling centrifugal movements
WO1999007588A1 (en) * 1997-08-04 1999-02-18 Continental Teves Ag & Co. Ohg Method for increasing the driving stability of a vehicle
DE19733674A1 (en) * 1997-08-04 1999-02-11 Itt Mfg Enterprises Inc Method for increasing the driving stability of a motor vehicle
DE102009000947A1 (en) 2009-02-18 2010-08-19 Robert Bosch Gmbh Yaw rate control with simultaneous maximum delay
WO2010094365A1 (en) 2009-02-18 2010-08-26 Robert Bosch Gmbh Yaw rate control having simultaneous maximum deceleration
US8600639B2 (en) 2009-02-18 2013-12-03 Robert Bosch Gmbh Yaw rate control with simultaneous maximum deceleration
DE102015215802B4 (en) 2015-08-19 2024-06-06 Zf Friedrichshafen Ag Stabilization of a vehicle combination
DE112016005067T5 (en) 2015-12-01 2018-07-12 Scania Cv Ab METHOD AND SYSTEM FOR FACILITATING THE STEERING OF A VEHICLE WHILE DRIVING ALONG A STREET
DE112016005072T5 (en) 2015-12-01 2018-07-12 Scania Cv Ab Method and system for facilitating the steering of a vehicle while driving along a road
DE112016005072B4 (en) 2015-12-01 2022-02-17 Scania Cv Ab Method and system for facilitating the steering of a vehicle when driving along a road

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