Predictive control algorithm for an anti-lock braking system for an automotive vehicle
First Claim
1. A control system for an automotive vehicle having a wheel and wheel brake comprising:
- a wheel speed sensor generating a rotational speed signal; and
a controller coupled to the wheel speed sensor, said controller determining a vehicle speed, calculating wheel slip based upon the vehicle speed and the rotational speed and a predicted wheel slip, estimating a normal force on the wheel, calculating a modified brake torque signal in response to the wheel slip, the predicted wheel slip and the normal force, and actuating the wheel brake in response to the modified brake torque signal.
11 Assignments
0 Petitions
Accused Products
Abstract
A control system (12) for an automotive vehicle includes a wheel speed sensor (18) generating a rotational speed signal and a controller (14) coupled to the wheel speed sensor. The controller determines a vehicle speed, calculates wheel slip based upon the vehicle speed and the rotational speed, calculates a predicted future wheel slip based upon the vehicle speed and the rotational speed, estimates a normal force on the wheel, calculates a modified brake torque signal in response to the wheel slip, the predicted future wheel slip and the normal force, and actuates the wheel brake in response to the modified brake torque signal.
14 Citations
20 Claims
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1. A control system for an automotive vehicle having a wheel and wheel brake comprising:
a wheel speed sensor generating a rotational speed signal; and
a controller coupled to the wheel speed sensor, said controller determining a vehicle speed, calculating wheel slip based upon the vehicle speed and the rotational speed and a predicted wheel slip, estimating a normal force on the wheel, calculating a modified brake torque signal in response to the wheel slip, the predicted wheel slip and the normal force, and actuating the wheel brake in response to the modified brake torque signal. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method of controlling a vehicle having a wheel and wheel brake comprising:
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measuring rotational speed of a wheel;
determining a vehicle speed;
calculating wheel slip based upon the vehicle speed and the rotational speed;
calculating a predicted future wheel slip based upon the vehicle speed and the rotational speed;
estimating a normal force on the wheel;
calculating a modified brake torque signal in response to the wheel slip, the predicted future wheel slip and the normal force; and
actuating the wheel brake in response to the modified brake torque signal. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A method of controlling braking of an automotive vehicle having a plurality of wheels and brakes comprising:
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measuring rotational speed of the plurality of wheels;
determining a vehicle speed;
calculating respective wheel slip for the plurality of wheels based upon the vehicle speed and a respective rotational speed;
calculating respective predicted future wheel slip for the plurality of wheels based upon the vehicle speed and a respective rotational speed;
estimating a normal force on the plurality of wheels;
calculating a respective modified brake torque signal in response to the respective wheel slip, the respective future wheel slip and the normal force for each of the plurality of wheels; and
actuating a respective brake in response to the respective modified brake torque signal. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification