Robert Boschgmbh

Prof. Dr.-ing. Werner H. Bloss

Rainer Erhardt

Anton Van Zanten

Friedrich Kost

Uwe Hartmann

Thomas Ehret

Wolf-Dieter Ruf

Wolfram Bauer

Werner Urban

Karl-Josef Weiss

Johannes Artzner

Georg Pfaff

Gerd Busch

Erich Reinhardt

An apparatus and a process for closed loop control of a motion quantity representing the vehicle motion which means determine the yaw rate of the vehicle, the longitudinal speed of the vehicle, and the transverse acceleration of the vehicle. Moreover, the apparatus influences the forward moment and/or the braking moment of individual wheels of the vehicle. The apparatus further determines a transverse acceleration component dependent on the roadway transverse inclination, as well as correcting the transverse acceleration of the vehicle at least as a function of the transverse acceleration component dependent on the roadway transverse inclination. The determination of the transverse acceleration component dependent on the roadway transverse inclination and also the correction of the transverse acceleration of the vehicle as carried out in a stable state of the vehicle characterized by the yaw rate and the transverse acceleration.

Process and apparatus for controlling in closed loop a motion quantity representing vehicle motion

Device for ascertaining a rate of rotation

A method for improving the controllability of motor vehicles during braking wherein desired slip values are determined and adjusted with the aid of a wheel slip controller. According to the method, the following are measured: the yaw rate .psi., the steering angle .delta., the wheel speeds V.sub.Ri, the inlet pressure P.sub.inlet or wheel brake pressure P.sub.i, and, if required, the engine speed and the throttle valve angle. The following variables are estimated using the measured values: the longitudinal vehicle speed V.sub.X, the longitudinal vehicle acceleration V.sub.X, the wheel slip values .lambda..sub.i, the braking forces F.sub.Bi, the tire forces F.sub.Ri, and the transverse speed V.sub.Y. Desired slip values .lambda..sub.i * are then determined from these measured and estimated variables with the aid of a simple vehicle model and supplied to the slip controller to control the vehicle wheel brake pressure.

Method for improving the controllabilty of motor vehicles

Control of vehicle side slip using yaw rate

In a method for detecting the reverse travel of a motor vehicle, the yaw speed and a model yaw-speed are obtained and, with the aid of these variables as well as constants, a factor .THETA.t is determined, which is compared to preselected comparison values. From these comparisons, it is determined whether forward travel or reverse travel exists.

Method for detecting the reverse travel of a motor vehicle

A method and system for automatic detection of cells and determination of cell features from cytological smear preparations which can recognize cells and extract their features independently of known visual cell descriptions through digital classification in a data processing system confines evaluation of the cell to the cell nuclei.

Method of automatic detection of cells and determination of cell

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Stuttgart, Germany

Rainer Erhardt