Dynamic stability control using GNSS and INS

摘要

The invention relates to a method for controlling the driving dynamics of a vehicle, especially of a single-track or dual-track and vehicle. The driving dynamics of the vehicle are controlled by way of brake and/or engine intervention, notably depending on a change of the movement of the vehicle in the three-dimensional space and relative to the earth coordinate system and depending on the effective direction of gravity or the earth's gravitational pull. According to said method, the attitude or orientation and the position of the vehicle in three-dimensional space and relative to the earth coordinate system is determined by means of a satellite navigation system (GNSS) which comprises a receiver, mounted on/in the vehicle, having at least three antennas for reception of satellite navigation signals and an inertial measuring system (INS), mounted on/in the vehicle, for measuring all changes in the movement, position and/or attitude of the vehicle.

主权项

1. A method for controlling the driving dynamics of a single-track or dual-track and vehicle, wherein
the driving dynamics of the vehicle are controlled by way of brake and/or engine intervention, notably depending on the movement of the vehicle in the three-dimensional space and relative to an earth coordinate system having the center of gravity of the earth as its origin, the attitude and the position of the vehicle in three-dimensional space and relative to the earth coordinate system are determined by means of a satellite navigation system (GLASS) which comprises a receiver, mounted on or in the vehicle and having at least three antennas for reception of satellite navigation signals, and by means of an inertial measuring system (INS), mounted on or in the vehicle, for measuring all changes in the movement, position and/or attitude of the vehicle, wherein the driving dynamics control performed by brake and/or engine intervention is carried out additionally in dependence on the effective direction of the gravitational force or the force of the gravitational pull of the earth, from the values of the position and attitude of the vehicle and from the coordinates of the center of gravity of the earth, there is computed, in real time, the direction of the gravity acting on the vehicle, or the direction of the vector from the center of gravity of the vehicle to the center of gravity of the earth in ground-based and/or vehicle-based coordinates.