| 摘要 |
The invention concerns a method for reducing wheel slippage of a motor vehicle with at least one axle (2), on the ends of which steerable wheels (7, 8) are rotatingly placed, and with at least one axle (1, 2) on which wheels (5, 6, 7, 8) are driven by a differential drive (3, 4), whereby, in case of a wheel slip of one of the wheels of a driven axle (1, 2), a brake (16, 17) assigned thereto or a differential slip control is activated and controlled. In order that the traction and the driving stability of the motor vehicle are improved by a simple mechanism, the proposal is that the speeds of rotation of the wheels (5, 6, 7, 8) are determined, that from the speed of rotation of the wheels (6, 8) on the right vehicle side and of the wheels (5, 7) on the left vehicle side of an axle (1, 2), and from use of vehicle parameters, a virtual curve radius (rvirt) is computed, that the steering angle (alphaa, alphai) of the steerable wheels (7, 8) of an axle (2) is computed, that a desired-radius (rsoll) is computed from an average steering angle alpham of the wheels (7, 8) or from a corresponding steering angle of a steering gear (14) by the use of vehicle parameters, that the virtual curve radius (rvirt) is compared with the desired radius (rsoll) and that the results for formation of a characteristic value serves to activate an assigned brake (16, 17) or to activate a differential slip control of a differential drive (3, 4).
|
