Method and device for assisting an operator of a vehicle in the vehicle stabilization
In a method and a device for assisting an operator of a vehicle in the vehicle stabilization, an additional steering torque is applied to the steering line of the vehicle. The method manifests itself by the feature that a first component of the additional steering torque is determined depending on a steering angle difference between an instantaneous steering angle at steerable wheels of the vehicle and a nominal steering angle, and the steering angle difference is determined depending on a difference between an instantaneous value of a yaw rate of the vehicle and a value of a reference yaw rate, and with the value of the reference yaw rate being established in a vehicle model by way of a value of at least one variable predefined by the driver. The device implements the method.
1. A method for assisting an operator of a vehicle in stabilizing the vehicle, wherein the vehicle includes a steering line and wherein an additional steering torque is applied to the steering line of the vehicle, the method comprising the steps of
detecting an unstable driving condition,
determining a value of a reference yaw rate based on a vehicle model by way of a value of at least one variable predefined by the operator,
determining an instantaneous value of a yaw rate,
determining an instantaneous steering angle,
determining a nominal steering angle,
determining a first component of the additional steering torque depending on a steering angle difference between the instantaneous steering angle at steerable wheels of the vehicle and the nominal steering angle, wherein the steering angle difference depends on the difference between the instantaneous value of the yaw rate of the vehicle and the value of the reference yaw rate,
applying the additional steering torque to the steering line, and
withdrawing the additional steering torque when the absolute value of the instantaneous yaw rate drops below the value of the reference yaw rate determined at the start of the instable driving condition.
2. The method as claimed in claim 1 ,
wherein the value of the reference yaw rate is established depending on a steering angle set by the operator of a vehicle.
3. The method as claimed in claim 1 ,
wherein the steering angle deviation is determined depending on a difference between the instantaneous yaw rate of the vehicle and the value of the reference yaw rate which.
4. The method as claimed in claim 1 ,
wherein the point of time of a start of an unstable driving situation is determined by an activation logic.
5. The method as claimed in claim 4 ,
wherein the activation logic has access to results of a driving situation detection unit in order to detect the start of an unstable driving situation.
6. The method as claimed in claim 1 ,
comprising the step of determining a second component of the additional steering torque depending on an estimated value of a tire resetting moment.
7. The method as claimed in claim 6 ,
wherein the tire resetting moment is estimated by a disturbance observer unit.
8. The method as claimed in claim 6 ,
wherein the additional steering torque is established by addition of the first and the second component.
9. The method as claimed in claim 1 ,
wherein the amount of the additional steering torque is limited.