Claims
- 1. A motor vehicle steering system having a yaw rate controller which continuously detects a yaw rate representing the vehicle yawing motion and forms a control signal as a function thereof, and which causes a steering movement which counteracts the undesired yawing motion, wherein the control signal is formed differently in an unbraked driving condition than when the vehicle is braked.
- 2. The motor vehicle steering system according to claim 1, wherein the control signal in the case of a control intervention of a brake control system is formed differently than when the vehicle is braked without such a control intervention.
- 3. The motor vehicle steering system according to claim 1, wherein:
the control signal is determined from the deviation between a desired yaw rate value and the actual yaw rate value; and in the event of a controlled braking operation, the control signal is formed by means of at least one amplification factor that differs from an amplification factor that is used in the unbraked driving condition.
- 4. The motor vehicle steering system according to claim 3, comprising a deviation branch which generates the control signal that includes a proportional component and an integral component, the integral component having an amplification factor that has a different value in the case of a braking operation than in the unbraked driving condition.
- 5. The motor vehicle steering system according to claim 1, wherein the deviation branch or a return branch includes a filter whose operation is changed or activated in the case of a braking operation in contrast to the unbraked driving condition.
- 6. The motor vehicle according to claim 1, wherein a braking operation is detected based on one of activation of a vehicle brake light switch and pressure change in the hydraulic vehicle braking system.
- 7. A yaw rate control device, for controlling yawing movement of a vehicle, said yaw rate control device comprising:
means for providing a signal indicative of a desired yaw rate for said vehicle; means for generating a signal indicative of an actual yaw rate for said vehicle; comparison means for generating a deviation signal equal to the difference between said desired yaw rate signal and said actual yaw rate signal; means for calculating a control signal for controlling vehicle steering as a function of said deviation signal, using at least one amplification factor; and means for determining whether a vehicle operator is currently activating a vehicle braking operation; wherein the at least one amplification factor has a value that varies as a function or whether or not a vehicle braking operation is currently activated.
- 8. The yaw rate control device according to claim 7, further comprising:
means for determining whether an automatic braking intervention is occurring; wherein the value of the at least one amplification factor varies further as a function of whether an automatic braking intervention is currently occurring.
- 9. The yaw rate control device according to claim 7, wherein said means for calculating a control signal incorporates a proportional component that uses a first amplification factor for the proportional component.
- 10. The yaw rate control device according to claim 9, wherein said means for calculating a control signal incorporates an integral component that uses a second amplification factor for the integral component, the control signal being equal to the sum of the proportional and integral components.
- 11. A method for controlling yawing movement of a vehicle, comprising:
providing a signal indicative of a desired yaw rate for said vehicle; generating a signal indicative of an actual yaw rate for said vehicle; calculating a control signal as a function of a difference between said signals that are indicative of the desired yaw rate and the actual rate, using at least one amplification factor; adjusting vehicle steering as a function of said control signal; determining whether a vehicle operator is currently activating a vehicle braking operation; and varying a value of said amplification factor as a function of whether or not a vehicle braking operation is currently activated.
- 12. The method according to claim 11, further comprising:
determining whether an automatic braking intervention is occurring; wherein the value of the at least one amplification factor varies further as a function of whether an automatic braking intervention is currently occurring.
- 13. The method according to claim 11, wherein said control signal includes a proportional component that is calculated using a first amplification factor.
- 14. The method according to claim 13, wherein:
the control signal incorporates an integral component that is calculated using a second amplification factor; and the control signal is equal to the sum of the proportional and integral components.
Priority Claims (1)
Number |
Date |
Country |
Kind |
101 41 274.6 |
Aug 2001 |
DE |
|
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a continuation of PCT Application No. PCT/EP02/08446 filed on Jul. 30, 2002.
Continuations (1)
|
Number |
Date |
Country |
Parent |
PCT/EP02/08446 |
Jul 2002 |
US |
Child |
10681313 |
Oct 2003 |
US |