Vehicle stabilization device and method

摘要

For stabilizing a vehicle, a steering angle of at least one steered front axle and/or additional axle is changed by automatic forced steering Additional drive stabilization is achievable by initiating an adjustment of a changed steering angle of the steered front axle and/or additional axle in response to a tilting tendency of the vehicle recognized via a tilt-stability control device as above a tilt limit, in addition to initiating a vehicle delay for reducing this tilting tendency. This counteracts an understeering or oversteering influence of the vehicle delay Additionally or alternatively, additional drive stabilization is achievable by determining the direction of movement in the wheel contact point of an additional axle wheel on the steered additional axle relative to the vehicle's longitudinal axis and adjusting the steering angle of the steered additional axle based thereon to reduce the drift angle of the additional axle wheel relative to its direction of movement.

主权项

1. A vehicle stabilization method, in which at least one of a steering angle of at least one steerable front axle of a vehicle and a steering angle of at least one steerable additional axle of the vehicle is changed relative to a longitudinal axis of the vehicle by automatic forced steering of the at least one steerable front axle and the at least one steerable additional axle, the method comprising:
a) when a tilt tendency of the vehicle is detected by a tilt stability control device as being greater than a tilt limit angle, decelerating the vehicle to reduce the tilt tendency, and using a track keeping device to adjust at least one of (i) a changed steering angle of the at least one steerable front axle and (ii) a changed steering angle of the at least one steerable additional axle to counteract one of understeering and oversteering of the vehicle resulting from decelerating the vehicle; and b) determining a direction of motion at a wheel contact point of at least one additional axle wheel disposed on the at least one steerable additional axle relative to the longitudinal axis of the vehicle, adjusting the steering angle of the at least one steerable additional axle based on the direction of motion to reduce a drift angle of the at least one additional axle wheel relative to the direction of motion, determining whether there is one of understeering of the vehicle in excess of a preselected understeer limit value, and oversteering of the vehicle in excess of a preselected oversteer limit value, and effecting at least one braking intervention on the at least one additional axle wheel of the at least one steerable additional axle when one of understeering of the vehicle in excess of the understeer limit value and oversteering of the vehicle in excess of the oversteer limit value is determined.