US 11,851,042 B2
Method and controller for controlling slip of at least one wheel of a vehicle
Kai Hoffmann, Ilsfeld (DE); Marco Stumm, Ludwigsburg (DE); Michael Erden, Bietigheim-Bissingen (DE); Rami Scharbak, Benningen (DE); Valentin Loeffelmann, Dielheim (DE); and Dirk Weidmann, Bietigheim-Bissingen (DE)
Assigned to ROBERT BOSCH GMBH, Stuttgart (DE)
Appl. No. 17/907,222
Filed by Robert Bosch GmbH, Stuttgart (DE)
PCT Filed Jul. 16, 2021, PCT No. PCT/EP2021/069977
§ 371(c)(1), (2) Date Sep. 23, 2022,
PCT Pub. No. WO2022/058067, PCT Pub. Date Mar. 24, 2022.
Claims priority of application No. 10 2020 211 789.6 (DE), filed on Sep. 21, 2020.
Prior Publication US 2023/0106328 A1, Apr. 6, 2023
Int. Cl. B60T 8/17 (2006.01); B60T 8/175 (2006.01)
CPC B60T 8/175 (2013.01) 12 Claims
OG exemplary drawing
 
1. A method for controlling slip of at least one wheel of a vehicle using a matrix formed of a plurality of data fields associated with respective slip states, the method comprising the following steps:
when a current slip state of the at least one wheel is outside a target slip region of the matrix, reading out from the matrix at least one parameter of an action to be performed based on the current slip state of the wheel, the reading out including:
selecting, from the plurality of data fields of the matrix, a data field associated with the current slip state; and
reading out the at least one parameter from the selected data field; and
actuating at least one actuator of the vehicle using the at least one parameter that has been read out, for performing the action;
wherein the method includes at least one of the following two features (a)-(b)
(a) (i) the matrix is two-dimensional, formed of rows and columns, (ii) each of the slip states is formed of a respective value pair composed of a respective value of a relative speed of the at least one wheel and a respective value of a relative acceleration of the at least one wheel, and (iii) the selecting is performed by using one of the relative speed and the relative acceleration to select from the rows of the matrix and using the other of the relative speed and relative acceleration to select from the columns of the matrix; and
(b) (i) a balance of the data field of the matrix outside of the target slip region is divided into a plurality of selection regions depending on respective directions of difference of at least one value of the respective slip states from at least one value of one or more slip states of the target slip region so that each of the selection regions differs from each other one of the selection regions with respect to the directions, (ii) the method further comprises determining in which of the plurality of selection regions of the matrix surrounding the target slip region the selected data field is located, and (iii) the actuating is performed based on a result of the determination.