Vehicular antilock control system using inverse hydraulics model

摘要

Speed measurements at the individual wheels (9) are processed (1) to give a slip value (S) varying inversely with the ratio of measured speed (Vr) to freely-turning wheel speed (Vfr) evaluated by a monitor (8) of yaw rate (psi dot), steering angle (delta), transverse velocity (Vy), lateral guidance forces (Fs) and braking forces (Fb). The opening time (U) of a magnetic valve in the hydraulic braking system (10) is deduced from an inverse model (7). The desired slip value (So) is corrected (3) from the vehicle controller (11).