Motor vehicle control installation allowing for tyre size tolerances - applies two=stage filtering with feedback of computed free-running wheel speeds and allowance for vehicle geometry and track width

摘要

Measurements or estimates of yaw rate (psi'), transverse velocity (Vy) and steering angle (delta) are used (1) in conjunction with vehicle-specific constants (Rv, beta) and free-running wheel speeds (vfr2-vfr4) in calculation of reference tolerances (phi 2 - phi 4). First-order filters (2,3) are applied to obtain absolute tolerances (r2-r4) for a final calculation (4) of the speeds to be compared with a reference wheel speed (vr01) in a controller (5). An AND gate (6) activates these computations only when eight specified conditions related to vehicle operation are fulfilled. USE/ADVANTAGE - In antilock braking and wheel-slip control systems, much more precise correction of wheel speed signal is possible even at low traction and steering torques.