Yaw control for an automotive vehicle using steering actuators
First Claim
1. A control system for an automotive vehicle having a steering actuator comprising:
- a lateral dynamic sensor generating a lateral dynamic signal corresponding to a condition of the vehicle;
a steering wheel angle sensor generating a steering wheel angle signal;
a road wheel steer angle sensor generating a road wheel angle signal; and
a controller coupled to the steering actuator, the lateral dynamic sensor and the steering wheel angle sensor, said controller determining a desired yaw rate in response to the steering wheel angle signal, determining a corrected steering wheel input as a function of the desired yaw rate and the condition and the road wheel angle sensor, and controlling the steering actuator in response to the corrected wheel steering angle, the desired yaw rate and the modified steering wheel input and the road wheel angle sensor.
3 Assignments
0 Petitions
Accused Products
Abstract
A stability control system (24) for an automotive vehicle includes a plurality of sensors sensing the dynamic conditions of the vehicle. The sensors include a steering angle sensor (35) and a yaw rate sensor (28). The controller (26) is coupled to the steering angle sensor (35) and the yaw rate sensor (28). The controller (26) determines a desired yaw rate in response to the steering wheel angle input, determines a corrected steering wheel input as a function of the desired yaw rate of an ideal vehicle and the vehicle yaw rate, and controls the road wheel steer angle (front, rear, or both) steering actuator in response to the corrected steering wheel input, the yaw rate and the modified steering wheel input, vehicle speed, lateral acceleration, longitudinal acceleration, yaw rate, steering wheel angle, and road wheel angles.
68 Citations
22 Claims
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1. A control system for an automotive vehicle having a steering actuator comprising:
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a lateral dynamic sensor generating a lateral dynamic signal corresponding to a condition of the vehicle;
a steering wheel angle sensor generating a steering wheel angle signal;
a road wheel steer angle sensor generating a road wheel angle signal; and
a controller coupled to the steering actuator, the lateral dynamic sensor and the steering wheel angle sensor, said controller determining a desired yaw rate in response to the steering wheel angle signal, determining a corrected steering wheel input as a function of the desired yaw rate and the condition and the road wheel angle sensor, and controlling the steering actuator in response to the corrected wheel steering angle, the desired yaw rate and the modified steering wheel input and the road wheel angle sensor. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method of controlling a vehicle having a steering actuator comprising:
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measuring a steering wheel angle from a steering wheel angle sensor;
measuring a steering actuator position from a road wheel position sensor;
determining a desired yaw rate in response to the steering wheel angle;
determining a modified steering wheel input in response to the desired yaw rate;
measuring a vehicle lateral dynamic from a condition sensor;
determining a corrected steering wheel input as a function of the desired yaw rate and the lateral dynamic condition; and
controlling the steering actuator in response to the corrected steering wheel input, the lateral dynamic condition and the modified steering wheel input. - View Dependent Claims (9, 10, 11, 12, 13)
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14. A method of controlling a vehicle having a steering actuator comprising:
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measuring a steering wheel angle from a steering wheel angle sensor;
determining a desired yaw rate in response to the steering wheel angle;
determining a modified steering wheel input in response to the desired yaw rate;
measuring a vehicle yaw rate from a yaw rate sensor;
determining a yaw rate error as a function of the desired yaw rate and the vehicle yaw rate;
determining a corrected steering wheel input in response to the yaw rate error;
determining a steering actuator input as a function of the corrected steering wheel input and the modified steering wheel input; and
controlling the steering actuator in response to the steering actuator input. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21)
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22. An automotive vehicle having a steering road wheel actuator comprises:
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a yaw rate sensor generating a yaw rate signal corresponding to the yaw rate of the vehicle;
a steering wheel angle sensor generating a steering wheel angle signal;
a feedback and feed forward controller coupled to the steering road wheel actuator using inputs from the yaw rate sensor and the steering wheel angle sensor, the feed forward controller calculates a desired yaw rate in response to the steering wheel angle, and determines a corrected steering wheel input as a function of the desired yaw rate, the feedback controller then compares the actual desired vehicle yaw rate, and controls the road wheel steering actuator in response to the corrected steering wheel input, the yaw rate and the modified steering wheel input to provide a steering angle that will result in a desired vehicle dynamic response.
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Specification