Determination of the actual yaw angle and the actual slip angle of a land vehicle

Abstract

The invention relates to a method for determining the actual yaw angle and the actual slip angle of a land vehicle and to a device for carrying out said method. According to said method, a slip angle characteristic is first determined with the aid of a driving condition sensor system (FZS), a yaw rate sensor (GRS) and a position determination system (PBS). If the slip angle characteristic remainsbelow a threshold value, the actual yaw angle is adjusted to match the actual speed vector angle, which has been determined with the aid of the position determination system. If the slip angle characteristic exceeds a specific threshold value, the actual yaw angle is determined by a continuous value integration with the aid of sensor values from the yaw rate sensor and the slip angle is calculated as the difference between the yaw angle and the speed vector angle. The invention permits the slip angle of the vehicle to be reliably determined with sufficient accuracy, without the need for additional sensors, such as e.g. a second position determination system or lane identification, if the values of said slip angle increase over several seconds. At the same time, the yaw angle of the vehicle 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.

Description

technical field [0001] The invention relates to a method and a device for determining the current yaw angle and the current sideslip angle of a land vehicle. Background technique [0002] The yaw angle ψ is defined as the angle between the longitudinal axis of the vehicle and an axis parallel to the ground in a coordinate system fixed to the ground. [0003] The sideslip angle β is the angle between the velocity vector at a point fixedly connected to the vehicle (generally the center of gravity of the vehicle) and the longitudinal axis of the vehicle. The longitudinal inclination and lateral inclination are determined by the car's pitch angle θ and shimmy angle come to understand. The shimmy angle, pitch angle and yaw angle are defined according to DIN 70000. [0004] The current horizontal orientation of the vehicle, ascertained via the yaw angle, can be used for fast course determination during vehicle navigation, but in this respect it is firstly important as an auxil...

AI Technical Summary

Problems solved by technology

[0014] The described solution has the disadvantage that the required accuracy is not always guaranteed when determining the yaw and sideslip angles

Due to the use of the additionally necessary sensor systems, the available systems are very expensive and are therefore not suitable for use in many vehicles in the low price category

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