Reference yaw rate determining method for motor vehicle, involves operating bicycle model derivative of yaw rate depending on yaw torque subjected by vehicle and corrective action depending on lateral speed of vehicle

摘要

#CMT# #/CMT# The method involves exploiting a stretched bicycle model in which a derivative of yaw rate depends on a yaw torque subjected by a motor vehicle and a corrective action depending on lateral speed of the vehicle. The corrective action includes a term linearly depending on the lateral speed of the derivative and another term depending on the lateral speed or elevated derivative. The corrective action includes a term depending on the lateral speed or the derivative of the vehicle at a center of front or rear axle. #CMT# : #/CMT# An independent claim is also included for a trajectory regulator of motor vehicle, comprising a determination unit. #CMT#USE : #/CMT# Method for determining reference rate of yaw from measured values e.g. longitudinal speed of a motor vehicle and steering angle of the vehicle, in an electronic stability program to correct real trajectory of the vehicle to restore reference trajectory. #CMT#ADVANTAGE : #/CMT# The method permits to exploit the bicycle model in order to determine the reference yaw rate of the vehicle in real time and robust manner from the measured values such as longitudinal speed of the motor vehicle and steering angle of the vehicle, with reduced calculation time. The utilization of the bicycle model permits to improve the estimation of the derivative and improve the control loop utilizing the estimated derivative, thus improving robustness of the control rule in order to improve the stability of the vehicle and safety performance in the estimation of the derivative. #CMT#DESCRIPTION OF DRAWINGS : #/CMT# The drawing shows a graphical representation illustrating a correlation between measured lateral acceleration and given lateral acceleration by a bicycle model. '(Drawing includes non-English language text)'.