US 12,240,320 B2
Method for controlling a driving dynamics function of a working machine
Wolfgang Rebholz, Sauldorf-Boll (DE); Matthias Längle, Pfullendorf (DE); and Joachim Sauter, Berg (DE)
Assigned to ZF Friedrichshafen AG, Friedrichshafen (DE)
Appl. No. 17/442,725
Filed by ZF Friedrichshafen AG, Friedrichshafen (DE)
PCT Filed Mar. 18, 2020, PCT No. PCT/EP2020/057425
§ 371(c)(1), (2) Date Sep. 24, 2021,
PCT Pub. No. WO2020/193308, PCT Pub. Date Oct. 1, 2020.
Claims priority of application No. 10 2019 204 129.9 (DE), filed on Mar. 26, 2019.
Prior Publication US 2022/0185108 A1, Jun. 16, 2022
Int. Cl. B60K 17/35 (2006.01); B60K 17/16 (2006.01); B60K 17/36 (2006.01)
CPC B60K 17/3505 (2013.01) [B60K 17/165 (2013.01); B60K 17/36 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A method for controlling a driving dynamics function of a working machine with at least two vehicle axles, the method comprising:
detecting and sending a current actual wheel rotational speed of at least one wheel to a control unit for comparison with an acceptable wheel rotational speed of the same wheel, and
calculating a wheel slip from such comparison, the control unit emits a control signal to lock at least one differential gear system when the wheel slip has an unacceptable value, for the differential gear system concerned an unlocking control signal is emitted periodically and the wheel rotational speeds are compared afresh, and again emitting a control signal to lock the differential gear system concerned when the value of the wheel slip is still unacceptable, and with reference to detection means detecting a trajectory, along which the value of the wheel slip of the at least one wheel has been unacceptable, and
besides the trajectory itself, determining a position of the trajectory in a predictive manner, before a further wheel covers the trajectory, emitting a control signal to lock the differential gear system concerned for at least one further differential gear system.