System and method for determining desired yaw rate and lateral velocity for use in a vehicle dynamic control system

• US 20050273240A1
• Filed: 06/02/2004
• Published: 12/08/2005
• Est. Priority Date: 06/02/2004
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Brown, Todd A., Eisele, Daniel D., Lopez, Michael P.
• Granted Patent: US 7,451,032 B2
• Time in Patent Office: Days
• US Class Current: 701/70
• CPC Class Codes: B60R 21/0132 responsive to vehicle motion parameters , e.g. to vehicle longitudinal or transversal deceleration or speed value
• CPC Class Codes: B60T 2210/22 Banked curves
• CPC Class Codes: B60T 2230/02 Side slip angle, attitude angle, floating angle, drift angle
• CPC Class Codes: B60T 2250/03 Vehicle yaw rate
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence
• CPC Class Codes: B60T 8/17552 responsive to the tire sideslip angle or the vehicle body slip angle
• CPC Class Codes: B60W 30/04 related to roll-over prevention
• CPC Class Codes: B60W 40/101 Side slip angle of tyre
• CPC Class Codes: B60W 40/11 Pitch movement
• CPC Class Codes: B60W 40/112 Roll movement
• CPC Class Codes: B60W 40/114 Yaw movement
• CPC Class Codes: B62D 6/005 treating sensor outputs to obtain the actual yaw rate
• 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

Abstract

A control system (18) and method for an automotive vehicle (10) includes a lateral acceleration sensor (32) generating a lateral acceleration signal, a yaw rate sensor (28) generating a yaw rate signal and a safety system. A safety system (44) and the sensors are coupled to a controller (26). The controller (26) determines a front lateral tire force and a rear lateral tire force from the vehicle yaw rate signal and the vehicle lateral acceleration signal, determines a calculated lateral velocity from the front lateral tire force, the rear lateral tire force and a bank angle, determines a calculated yaw rate from the front lateral tire force and the rear lateral tire force, the controller controlling a safety system in response to the calculated lateral velocity and the calculated yaw rate.

Claims

1. A control system for a vehicle comprising:

a yaw rate sensor generating a vehicle yaw rate signal;

a lateral acceleration sensor generating a vehicle lateral acceleration signal;

a safety system; and

a controller coupled to the yaw rate sensor and the lateral acceleration sensor, said controller determining a front lateral tire force and a rear lateral tire force from the vehicle yaw rate signal and the vehicle lateral acceleration signal, determining a calculated lateral velocity from the front lateral tire force, the rear lateral tire force and a bank angle, said controller determining a calculated yaw rate from the front lateral tire force and the rear lateral tire force, said controller controlling a safety system in response to the calculated lateral velocity and the calculated yaw rate.

2. A control system as recited in claim 1 wherein said safety system comprises a rollover control system.

3. A control system as recited in claim 1 wherein said safety system comprises a yaw control system.

4. A control system as recited in claim 1 wherein the calculated yaw rate is determined from the front lateral tire force, a first distance from a front axle to a center of gravity, a second distance from a rear axle to the center of gravity and the rear lateral velocity.

5. A control system as recited in claim 1 wherein the rear lateral tire force is determined in response to a rear tire slip angle and a rear cornering compliance.

6. A control system as recited in claim 5 wherein the rear tire slip angle is determined from a vehicle lateral velocity, a yaw rate signal and a vehicle longitudinal velocity.

7. A control system as recited in claim 6 wherein the rear tire slip angle is determined from a vehicle lateral velocity, a yaw rate signal, a vehicle longitudinal velocity and a rear steering angle.

8. A control system as recited in claim 7 wherein the rear steering angle is a determined by a gain from body roll due to a steering angle of a rear axle.

9. A control system as recited in claim 1 wherein the front lateral tire force is determined in response to a front tire slip angle and a front cornering compliance.

10. A control system as recited in claim 1 wherein the front lateral tire force is determined in response to a front tire slip angle, a front cornering compliance and a front steering angle.

11. A control system as recited in claim 10 wherein the front steering angle is determined in response to a driver input steering angle, a first gain from a body roll angle due to a steering angle of a front axle and a second gain from a body pitch angle due to a steering angle of a front axle.

12. A control system as recited in claim 10 wherein the front tire slip angle is determined from a longitudinal vehicle velocity, a lateral vehicle velocity a front tire slip angle, and a yaw rate signal from a yaw rate sensor.

13. A method of controlling a safety system for a vehicle comprising:

generating vehicle yaw rate signal;

generating a vehicle lateral acceleration signal;

determining a front lateral tire force and a rear lateral tire force from the vehicle yaw rate signal and the vehicle lateral acceleration signal;

determining a calculated lateral velocity from the front lateral tire force, the rear lateral tire force and a bank angle;

determining a calculated yaw rate from the front lateral tire force and the rear lateral tire force; and

controlling a safety system in response to the calculated lateral velocity and the calculated yaw rate.

14. A method as recited in claim 13 wherein generating a vehicle lateral acceleration signal comprises generating the vehicle lateral acceleration signal from a lateral acceleration sensor.

15. A method as recited in claim 13 wherein generating a vehicle yaw rate signal comprises generating a vehicle yaw rate signal from a yaw rate sensor.

16. A method as recited in claim 13 wherein determining a calculated yaw rate comprises determining a calculated yaw rate from the front lateral tire force, a first distance from a front axle to a center of gravity, a second distance from a rear axle to the center of gravity and the rear lateral velocity.

17. A method as recited in claim 13 wherein the rear lateral tire force is determined in response to a rear tire slip angle and a rear cornering compliance.

18. A method as recited in claim 17 wherein the rear tire slip angle is determined from a vehicle lateral velocity, a yaw rate signal and a vehicle longitudinal velocity.

19. A method as recited in claim 18 wherein the rear tire slip angle is determined from a vehicle lateral velocity, a yaw rate signal, a vehicle longitudinal velocity and a rear steering angle.

20. A method as recited in claim 19 wherein the rear steering angle is determined by a gain from body roll due to a steering angle of a rear axle.

21. A method as recited in claim 13 wherein the front lateral tire force is determined in response to a front tire slip angle and a front cornering compliance.

22. A method as recited in claim 13 wherein the front lateral tire force is determined in response to a front tire slip angle, a front cornering compliance and a front steering angle.

23. A method as recited in claim 13 wherein the front tire slip angle is determined from a longitudinal vehicle velocity, a lateral vehicle velocity, a front tire slip angle, and a yaw rate signal from a yaw rate sensor.

24. A method of controlling a safety system for a vehicle comprising:

determining a calculated lateral velocity from a front lateral tire force, a rear lateral tire force and a bank angle;

determining a calculated yaw rate from the front lateral tire force and the rear lateral tire force; and

controlling a safety system in response to the calculated lateral velocity and the calculated yaw rate.

25. A method as recited in claim 24 wherein determining a calculated lateral velocity comprises determining the calculated lateral velocity from a front lateral tire force, a rear lateral tire force, a bank angle, and mass of the vehicle.

26. A method as recited in claim 24 wherein determining a calculated yaw rate comprises determining a calculated yaw rate from the front lateral tire force, a first distance from a front axle to a center of gravity, a second distance from a rear axle to the center of gravity, and the rear lateral velocity.

27. A method as recited in claim 24 wherein the rear lateral tire force is determined in response to a rear tire slip angle and a rear cornering compliance.

28. A method as recited in claim 27 wherein the rear tire slip angle is determined from a vehicle lateral velocity, a yaw rate signal and a vehicle longitudinal velocity.

29. A method as recited in claim 27 wherein the rear tire slip angle is determined from a vehicle lateral velocity, a yaw rate signal, a vehicle longitudinal velocity, and a rear steering angle.

30. A method as recited in claim 29 wherein the rear steering angle is a determined by a gain from body roll due to a steering angle of a rear axle.

31. A method as recited in claim 24 wherein the front lateral tire force is determined in response to a front tire slip angle and a front cornering compliance.

32. A method as recited in claim 24 wherein the front lateral tire force is determined in response to a front tire slip angle, a front cornering compliance and a front steering angle.

33. A method as recited in claim 32 wherein the front steering angle is determined in response to a driver input steering angle, a first gain from a body roll angle due to a steering angle of a front axle and a second gain from a body pitch angle due to a steering angle of a front axle.

34. A method as recited in claim 32 wherein the front tire slip angle is determined from a projection of a longitudinal velocity and a lateral velocity.

35. A method as recited in claim 32 wherein the front tire slip angle is determined from a longitudinal vehicle velocity, a lateral vehicle velocity, a front tire slip angle, and a yaw rate signal from a yaw rate sensor.