Method For The Predictive Determination Of The Change In The Yaw Rate Of A Vehicle
The invention relates to a method for the predictive determination of the change in the yaw rate (ψ) of a vehicle. According to said method, the progress of the build-up of the braking pressures (p 1 to p 4 ) of the wheel brakes is monitored, and the change in the yaw rate (ψ) of the vehicle is determined in a predictive manner from the progress of the pressure build-up before the vehicle rotates around the vertical axis thereof. The inventive method allows the driving stability of a vehicle to be better regulated.
1 . A method for the predictive determination of the change in the yaw rate (ψ) of a vehicle,
characterized in that
the progress of the build-up of the braking pressures (p 1 to p 4 ) on the wheel brakes is monitored and that the yaw rate (ψ) of the vehicle is determined predictably before a rotation of the vehicle around its vertical axis occurs.
2 . The method according to claim 1 ,
characterized in that
an intervention in the vehicle movement dynamics is determined with the aid of the change in the yaw rate (ψ).
3 . The method according to claim 1 ,
characterized in that
additional state variables of the vehicle are taken into consideration when computing the change in the yaw rate (ψ).
4 . The method according to claim 1 ,
characterized in that
the frictional coefficient (μ 1 to μ 4 ) is estimated for at least one wheel relative to the ground.
5 . The method according to claim 4 ,
characterized in that
the frictional coefficient (μ 1 to μ 4 ) is estimated for each individual wheel.
6 . The method according to claim 4 ,
characterized in that
the frictional coefficient (μ 1 to μ 4 ) is estimated from the actual state variables of the vehicle.
7 . The method according to claim 6 ,
characterized in that
an average frictional coefficient is estimated.
8 . The method according to claim 4 ,
characterized in that
the frictional coefficient or coefficients (μ 1 to μ 4 ) is or are taken into consideration for determining the intervention in the vehicle movement dynamics.
9 . A system ( 1 , 10 ) for stabilizing the vehicle movement dynamics of a vehicle, comprising a device ( 5 ) for determining reference variables for an intervention in the vehicle movement dynamics,
characterized in that
a monitoring system ( 2 ) is provided, to which the braking pressures (p 1 to p 4 ) at the wheels and a variable connected thereto are supplied, and which comprises means ( 4 ) for the predictive determination of a change in the yaw rate (ψ) from the input variables, wherein the change in the yaw rate (ψ) is supplied to the device ( 5 ) for determining the reference variables.
10 . The system according to claim 9 ,
characterized in that
the system ( 1 , 10 ) is provided with a frictional coefficient estimation device ( 12 ).
11 . The system according to claim 10 ,
characterized in that
the frictional coefficient estimation device ( 12 ) is connected to the monitoring system ( 2 ).
12 . The system according to claim 10 ,
characterized in that
the frictional coefficient estimation device ( 12 ) is supplied with vehicle state variables, a reference movement vector (X s ) and an actual movement vector(X i ).
13 . The system according to claim 9 ,
characterized in that
the monitoring system ( 2 ) is connected to an anti-lock braking system ( 11 ).