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    • 20. 发明申请
    • Determination of the Actual Yaw Angle and the Actual Slip Angle of a Land Vehicle
    • 确定陆上车辆的实际仰角和实际滑移角
    • US20080201038A1
    • 2008-08-21
    • US11915101
    • 2006-04-11
    • Andreas JungAndreas MayerPeter Trippler
    • Andreas JungAndreas MayerPeter Trippler
    • B60T8/172G01C21/28
    • B60T8/172B60T2230/02B60T2250/03B60W2050/0077B60W2520/14B60W2520/20
    • In a method for determining the actual yaw rate and slip angle of a vehicle, a slip angle characteristic is first determined by a driving condition sensor system, a yaw rate sensor and a position determination system. If the slip angle characteristic remains below a threshold value, the actual yaw angle is adjusted to match the actual speed vector angle. Otherwise, the actual yaw angle is determined by a continuous value integration using yaw rate sensor values and the slip angle is calculated as the difference between the yaw angle and the speed vector angle. The slip angle is reliably determined with sufficient accuracy, without the need for additional sensors, if the values of the slip angle increase over several seconds. in addition, the yaw angle is reliably determined over long periods of time and the deviations in the values that occur in the integrating methods are adjusted at frequent intervals.
    • 在用于确定车辆的实际横摆角速度和滑移角的方法中,滑移角特性首先由驾驶条件传感器系统,偏航角速度传感器和位置确定系统来确定。 如果滑移角特性保持在阈值以下,则实际的偏航角度被调整为与实际的速度矢量角相匹配。 否则,通过使用横摆率传感器值的连续值积分来确定实际的偏航角,并且将滑移角计算为偏航角和速度矢量角之间的差。 如果滑移角的值增加了几秒,则可以以足够的精度可靠地确定滑移角,而不需要额外的传感器。 此外,在长时间段内可靠地确定偏航角,并且以频繁的间隔调整在积分方法中发生的值的偏差。