US 11,814,051 B2
Method for determining a side slip angle during cornering of a motor vehicle, driver assistance system for carrying out the method, and motor vehicle
Tobias Munko, Hannover (DE); Timo Pascal Behrens, Seelze (DE); and Bernd Oldemeyer, Langenhagen (DE)
Assigned to ZF CV Systems Hannover GmbH, Hannover (DE)
Filed by ZF CV SYSTEMS HANNOVER GMBH, Hannover (DE)
Filed on Oct. 27, 2021, as Appl. No. 17/512,411.
Application 17/512,411 is a continuation of application No. PCT/EP2020/063399, filed on May 14, 2020.
Claims priority of application No. 10 2019 112 900.1 (DE), filed on May 16, 2019.
Prior Publication US 2022/0048511 A1, Feb. 17, 2022
Int. Cl. B60W 30/18 (2012.01); B60W 10/18 (2012.01); B60W 10/20 (2006.01); B60W 40/101 (2012.01); B60W 40/114 (2012.01); B60W 50/00 (2006.01); B60W 10/101 (2012.01)
CPC B60W 30/18145 (2013.01) [B60W 10/101 (2013.01); B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 40/114 (2013.01); B60W 2050/0033 (2013.01); B60W 2520/125 (2013.01); B60W 2520/14 (2013.01); B60W 2520/20 (2013.01); B60W 2540/18 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for determining a side slip angle of a motor vehicle, the method comprising:
detecting and linking input variables to each other via a mathematical vehicle model using a linear single-track model, wherein the input variables include:
a predetermined or measured position of a center of gravity of the motor vehicle between a front axle and a rear axle of the motor vehicle,
a vehicle velocity of the motor vehicle which is current,
a cornering motion variable of the motor vehicle which is current,
a steering angle on the front axle which is current,
determining, in a case of stable cornering of the motor vehicle, the side slip angle during a cornering maneuver of the motor vehicle under an acceptance that a difference between the side slip angle and an Ackermann side slip angle is proportional to a difference between an Ackermann angle and the steering angle, wherein the side slip angle is deduced from a relationship between the detected steering angle and the Ackermann angle based on a proportionality relationship of the Ackermann side slip angle which is theoretically present when driving through an identical curve without slip; and,
wherein the side slip angle is determined as a difference of a first quotient of twice a rear axle distance of the center of gravity from the rear axle divided by a radius of the curve, which is taken into account as a ratio of the vehicle velocity to the cornering motion variable, and a second quotient of the product of the steering angle and the rear axle distance divided by a wheelbase between the front axle and the rear axle.