Detecting reverse motion of motor vehicle for brake control system - measuring yaw rate, vehicle speed, wheel state and steering angle and using given equations to derive forward or reverse motion signals

摘要

The yaw rate of the vehicle is measured and a modelled yaw angle (wm) derived from the steering angle ( delta ), vehicle speed (VF) and wheel radius (R). The yaw angle and various constants are used with a given equation to derive a time dependent parameter. A forward motion signal (LV) is generated when the parameter exceeds a threshold and/or the measured speed exceeds the maximum reversing speed. A reversing motion signal (LR) is generated when there is no forward motion signal and the parameter is less then a second threshold. The reversing signal is suppressed when the forward motion signal is present. USE/ADVANTAGE - For use in brake control systems with different characteristics for forward and reverse motion. Reliable detection of reverse motion is achieved at low cost using min. number of sensors.