Method and apparatus for vehicle stability enhancement system

• US 20040102887A1
• Filed: 11/26/2002
• Published: 05/27/2004
• Est. Priority Date: 11/26/2002
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations Incorporated (Motors Liquidation Co. GUC Trust)
• Inventors: Lin, William C., Chen, Shih-Ken
• Granted Patent: US 6,819,998 B2
• Time in Patent Office: Days
• US Class Current: 701/70
• CPC Class Codes: B60G 17/0195 characterised by the regulation being combined with other vehicle control systems conjoint control of vehicle sub-units including control of suspension systems B60W10/22
• CPC Class Codes: B60G 2800/0194 transversal with regard to vehicle
• CPC Class Codes: B60G 2800/24 Steering, cornering
• CPC Class Codes: B60G 2800/922 EBV - Electronic brake force distribution
• CPC Class Codes: B60G 2800/962 Four-wheel steering
• CPC Class Codes: B60T 2210/22 Banked curves
• CPC Class Codes: B60T 2260/022 Rear-wheel steering; Four-wheel steering
• CPC Class Codes: B60T 8/17552 responsive to the tire sideslip angle or the vehicle body slip angle
• CPC Class Codes: B60W 2050/0024 Variable gains
• CPC Class Codes: B60W 2050/0052 Filtering, filters
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2520/20 Sideslip angle
• CPC Class Codes: B60W 30/02 Control of vehicle driving stability
• CPC Class Codes: B62D 6/04 responsive only to forces disturbing the intended course of the vehicle, e.g. forces acting transversely to the direction of vehicle travel
• CPC Class Codes: B62D 7/159 characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition

Abstract

A vehicle stability enhancement system for a vehicle having a vehicle subsystem includes a sensor for sensing a vehicle parameter, a vehicle control system for adjusting the vehicle subsystem, a memory having a register that includes a bank angle compensation control command, and a controller responsive to the sensor and the memory for controlling the vehicle control system.

Claims

1. A vehicle stability enhancement system for a vehicle having a vehicle subsystem, comprising:

a sensor for sensing a vehicle parameter;

a vehicle control system for adjusting the vehicle subsystem;

a memory comprising a register including a bank angle compensation control command; and

a controller responsive to said sensor and said memory for controlling said vehicle control system.

2. The vehicle stability enhancement system of claim 1, wherein said memory further comprises a second register including a yaw rate control command.

3. The vehicle stability enhancement system of claim 2, wherein said memory further comprises a third register including a side-slip rate control command.

4. The vehicle stability enhancement system of claim 3, wherein said memory futher comprises a fourth register including a feedforward control command.

5. The vehicle stability enhancement system of claim 4, wherein said vehicle control system comprises a braking mechanism control system.

6. The vehicle stability enhancement system of claim 4, wherein said vehicle control system comprises a rear wheel steering mechanism control system.

7. The vehicle stability enhancement system of claim 5, wherein said vehicle control system further comprises a rear wheel steering mechanism control system.

8. The vehicle stability enhancement system of claim 1, wherein said memory further comprises a register having a side-slip rate control gain responsive to a road surface having a bank angle, wherein said side-slip rate control gain is a function of a side-slip rate control gain responsive to a level road surface.

9. The vehicle stability enhancement system of claim 1, wherein said bank angle compensation control command is responsive to the output signal of a low pass filter applied to the signal of the following equation:

G_BA=(YR)(V_x)−

(Ay).

10. The vehicle stability enhancement system of claim 1, wherein said sensor comprises at least one of a velocity sensor, a yaw rate sensor, an acceleration sensor, and a front wheel steering angle sensor.

11. A method for controlling a vehicle stability enhancement system in a vehicle having a vehicle subsystem, comprising:

sensing a vehicle parameter;

determining a control gain factor in response to the vehicle parameter;

determining the state of a control flag in response to the vehicle parameter;

calculating a control command in response to the control gain factor and the control flag, wherein the control command comprises a bank angle compensation control command; and

actuating a vehicle control system in response to the control command for adjusting the vehicle subsystem.

12. The method of controlling set forth in claim 11, wherein said calculating a control command further comprises:

calculating a control command comprising a yaw rate control command.

13. The method of controlling set forth in claim 12, wherein said calculating a control command further comprises:

calculating a control command comprising a side-slip rate control command.

14. The method of controlling set forth in claim 13, wherein said calculating a control command further comprises:

calculating a control command comprising a feedforward control command.

15. The method of controlling set forth in claim 14, wherein said actuating a vehicle control system further comprises:

actuating a braking mechanism control system.

16. The method of controlling set forth in claim 14, wherein said actuating a vehicle control system further comprises:

actuating a rear wheel steering mechanism control system.

17. The method of controlling set forth in claim 15, wherein said actuating a vehicle control system further comprises:

actuating a rear wheel steering mechanism control system.

18. The method of controlling set forth in claim 11, wherein said determining a control gain factor further comprises:

determining a first side-slip rate control gain factor for a level surface;

calculating a bank angle compensation control gain factor; and

calculating a second side-slip rate control gain factor for a surface having a bank angle, wherein said second side-slip rate control gain factor is responsive to the first side-slip rate control gain factor and the bank angle compensation control gain factor.

19. The method of controlling set forth in claim 11, wherein said calculating a control command further comprises:

calculating a bank angle compensation control command wherein the bank angle compensation control command is responsive to the output signal of a low pass filter applied to the signal of the following equation;

G_BA=(YR)(V_x)−

(Ay).

20. The method of controlling set forth in claim 11, wherein said sensing a vehicle parameter farther comprises:

sensing at least of a vehicle velocity, a vehicle yaw rate, a vehicle acceleration, and a vehicle front wheel steering angle.