YAW RATE REGULATION ACTIVATION

Abstract

A yaw rate control method comprises a yaw rate control function for stabilizing a vehicle carries out wheel-specific braking interventions based on a first reference yaw rate. A deactivation function is provided and activates the yaw rate control function as soon as at least one activation requirement is met. The activation requirement checks whether a longitudinal deceleration is greater than a longitudinal deceleration limit value, in particular by a sensor tolerance, a lateral acceleration is greater than a lateral acceleration limit value, in particular by a sensor tolerance, and a deviation between a second reference yaw rate and a measured yaw rate is greater than a yaw rate deviation limit value, in particular by a sensor tolerance.

Claims

1. A yaw rate control method comprising: carrying out wheel-specific braking interventions for stabilizing a vehicle with a yaw rate control function based on a first reference yaw rate checking at least one activation requirement is met comprises: checking if a longitudinal deceleration is greater than a longitudinal deceleration limit value; by a sensor tolerance; checking if a lateral acceleration is greater in terms of absolute value than a lateral acceleration limit value, by a sensor tolerance; and checking if a deviation between a second reference yaw rate and a measured yaw rate is greater than a yaw rate deviation limit value by a sensor tolerance; and activating the yaw rate control function with a deactivation function when at least one activation requirement is met.

2. The method as claimed in claim 1, further comprising calculating the second reference yaw rate using on one of a measured steering angle and a measured lateral acceleration of the vehicle.

3. The method as claimed claim 1, further comprising selecting the limit values of the activation requirements such that the activation requirements are met for less than 1% of the operating time.

4. The method as claimed in claim 1, further comprising at least partially blocking the yaw rate control function with the deactivation function when no activation requirement is met.

5. The method as claimed in claim 1, wherein the deactivation function is one of upstream and downstream of the yaw rate control function.

6. The method as claimed claim 1, wherein the longitudinal deceleration limit value is greater than 2.5 m/s.sup.2.

7. The method as claimed in claim 1, wherein the longitudinal deceleration limit value is speed dependent speed and decreases with higher vehicle speeds.

8. The method as claimed in claim 1, further comprising determining the longitudinal deceleration with at least one of an acceleration sensor, from the derivative of the vehicle speed and from data from the brake system.

9. The method as claimed in claim 1, wherein the lateral acceleration limit value is greater than 2.5 m/s.sup.2.

10. The method as claimed in claim 1, further comprising determining the lateral acceleration from at least one of measured values from an acceleration sensor and from a yaw rate sensor and the vehicle speed.

11. The method as claimed in claim 1, wherein checking the at least one activation requirement is met further comprises checking for the presence of an ABS intervention.

12. The method as claimed in claim 1, wherein checking the at least one activation requirement is met further comprises checking if a side slip angle signal is greater in terms of absolute value than a side slip angle limit value by a sensor tolerance.

13. The method as claimed in claim 1, wherein checking the at least one activation requirement is met further comprises checking if a longitudinal acceleration signal is greater than a longitudinal acceleration limit value by a sensor tolerance.

14. The method as claimed claim 1, wherein checking the at least one activation requirement is met further comprises checking if a vehicle speed is greater than a vehicle speed limit value, in particular by a sensor tolerance.

15. The method as claimed claim 1, wherein checking the at least one activation requirement is met further comprises checking if a steering angle is greater in terms of absolute value by a sensor tolerance, than a steering angle limit value that is in particular dependent on the speed.

16. The method as claimed in claim 1, wherein the yaw rate control function is not performed in a safety task and the deactivation function is performed in a safety task.

17. The method as claim 1, wherein a control unit for yaw rate control, is configured to carry out the instructions of the yaw rate control method.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0035] FIG. 1 schematically shows yaw rate control.

DETAILED DESCRIPTION

[0036] The yaw rate control 1, as shown in FIG. 1, has, as a central element, the actual yaw rate control function 2 which is surrounded by the deactivation function 3, 4. An upstream part of the deactivation function 3, 4 is referred to as a function deactivator (FunctionDisable) 3 and checks the implemented activation requirements. These are for example the lateral acceleration of the motor vehicle, the longitudinal deceleration of the motor vehicle and the yaw rate of the motor vehicle. In the general case, the function deactivator 3 deactivates the yaw rate control function 2 by sending a corresponding signal to the yaw rate control function 2. The function deactivator 3 also sends the deactivation signal to a downstream safety barrier 4. The safety barrier 4 is connected between the yaw rate control function 2 and the corresponding actuator or actuators 5. The yaw rate control function 2 therefore accesses the actuators 5 via the safety barrier 4; there is no direct communication path. The safety barrier 4 may or may not forward a command to the actuators 5 based on the signal from the function deactivator 3.

[0037] This ensures that the yaw rate control function 2 intervenes in the vehicle control only in use cases.