Method for the detection of curves and the determination of the transverse acceleration in a vehicle

Claim 2

Method for controlling one of brake slippage and drive slippage in a vehicle having two non-driven wheels when said vehicle is driven in a curve, said method comprising measuring the speeds of said non-driven wheels to produce wheel speed signals V L and V R ; determining the difference ΔV=V L -V R , said difference having a slope; filtering said difference to produce a filtered difference ΔV F =ΔV when said slope is less than a predetermined value ± a, said filtered difference ΔV F having a slope ± a when the slope of ΔV is greater than ±a; forming a mean value V M =1/2(V L +V R ); forming correction signals K i according to the equations K 1 =ΔV F /V M when V M exceeds a predetermined speed and K 2 =(ΔV F -ΔV G )/V M when V M is less than or equal to said predetermined speed, ΔV G being a stored value dependent upon vehicle speed, forming a mean value K i from successively determined correction signals K i ; forming a corrected speed difference ΔV K =ΔV F -K i V M , wherein K i =K 1 when K 1 was formed at least once during a ride, generating a signal indicative of a curve when ΔV K exceeds a curve determination speed value, and controlling one of brake slippage and drive slippage in said vehicle by using said signal indicative of a curve as a control parameter in a respective one of an antilock brake system and an antislip drive system of the vehicle.

Claim 3

Method as in claim 1 wherein said predetermined value ± a is ±0.2 g.

Claim 4

Method as in claim 1 wherein said curve determination value is 2 km/h.

Claim 5

Method as in claim 3 wherein said straightaway determination value is 1.5 km/h.

Claim 6

Method as in claim 1 further comprising generating a signal indicative of a straightaway when ΔV K falls below a straightaway determination value.

Claim 7

Method as in claim 1 wherein said predetermined speed is 100 km/h.

Claim 8

Method as in claim 1 wherein said wheel speed signals V L and V R are filtered to produce respective filtered values V LF and V RF having a slope up to a predetermined value c.

Claim 9

Method as in claim 7 wherein said predetermined value c is 1.4 g.

Claim 10

Method for controlling at least one of brake slippage and drive slippage in a vehicle having two non-driven wheels when said vehicle is driven in a curve, said method comprising measuring the speeds of said non-driven wheels to produce wheel speed signals V L and V R ; determining the difference ΔV=V L -V R , said difference having a slope; filtering said difference to produce a filtered difference ΔV F =ΔV when said slope is less than a predetermined value said filtered difference ΔV F having a slope ± a; forming a mean value V M =1/2(V L +V R ); forming correction signals K i according to the equations K 1 =ΔV F /V M exceeds a predetermined speed and K 2 =(ΔV F -ΔV G )/V M when V M is less than or equal to said predetermined speed, ΔV G being a stored value dependent upon vehicle speed, forming a mean value K i from successively determined correction signals K i ; forming a corrected speed difference ΔV K =ΔV F -K i V M , wherein K i =K 1 when K 1 was formed at least once during a ride, determining a transverse vehicle acceleration a q by inputting said corrected speed value ΔV K and said mean value V M into a unit which stores plots of ΔV K versus V M for various transverse vehicle accelerations, and controlling one of brake slippage and drive slippage in said vehicle by using said transverse acceleration as a control parameter in a respective one of an antilock brake system and an antislip drive system of the vehicle.

Claim 11

Method for controlling at least one of brake slippage and drive slippage in a vehicle having two non-driven wheels when said vehicle is driven in a curve, said method comprising measuring the speeds of said non-driven wheels to produce wheel speed signals V L and V R ; determining the difference ΔV=V L -V R , said difference having a slope; filtering said difference to produce a filtered difference ΔV F =ΔV when said slope is less than a predetermined value said filtered difference ΔV F having a slope ± a; forming a mean value V M =1/2(V L +V R ); forming correction signals K i according to the equations K 1 =ΔV F /V M exceeds a predetermined speed and K 2 =(ΔV F -ΔV G )/V M when V M is less than or equal to said predetermined speed, ΔV G being a stored value dependent upon vehicle speed, forming a mean value K i from successively determined correction signals K i ; forming a corrected speed difference ΔV K =ΔV F -K i V M , wherein K i =K 1 when K 1 was formed at least once during a ride, determining a transverse vehicle acceleration a q by inputting said corrected speed value ΔV K and said mean value V M into a unit which stores plots of ΔV K versus V M for various transverse vehicle accelerations, and controlling one of brake slippage and drive slippage in said vehicle by using said transverse acceleration as a control parameter in a respective one of an antilock brake system and an antislip drive system of the vehicle.

Claim 12

Method as in claim 9 wherein said predetermined value ± a is ±0.2 g.

Claim 13

Method as in claim 9 wherein said predetermined speed is 100 km/h.

Claim 14

Method as in claim 9 wherein said wheel speed signals V L and V R are filtered to produce respective filtered values V LF and V RF having a slope up to a predetermined value c.

Claim 15

Method as in claim 12 wherein said predetermined value c is ±1.4 g.