公开(公告)号：US20240317239A1

公开(公告)日：2024-09-26

申请号：US18578835

申请日：2022-07-14

Applicant: MAGNA Powertrain GmbH & Co KG

Inventor： Robert Haring ,  Michael Kollmann ,  Christian Prettenthaler ,  Jan Wiechmann

IPC: B60W40/068 ,  B60W40/10 ,  B60W50/00

CPC classification number: B60W40/068 ,  B60W40/10 ,  B60W2050/0035 ,  B60W2520/105 ,  B60W2520/125 ,  B60W2520/14 ,  B60W2520/28 ,  B60W2720/14 ,  B60W2720/30

Abstract: A method for determining non-directly measurable driving status variables of a vehicle reads in by a sensor device and transmits to a computing device the following:



wheel speed of each vehicle wheel,
steering angle of the vehicle,
yaw angle rate,
longitudinal road inclination of the vehicle,
transverse road inclination of the vehicle.




Driving status variables are calculated by the computing device with a computational model, so that further driving variables that are difficult to measure or not directly measurable can be determined on the basis of the calculated driving status variables. The calculated and determined variables are transmitted to an actuator device to control and/or regulate the vehicle. The computational model contains a vehicle model, a tire model, and a wheel suspension model and are solved together in the computing device according to the following differential equation system:







(


M
F

+


∑

i
=
1


n
≥
3



M
Ri



)

⁢




q

.






→




+

(



k
→

F

+


∑

i
=
1


n
≥
3




k
→

Ri



)

+

(



b
→

g

⁢


∑

i
=
1


n
≥
3




b
→

i



)


=

0
→