Vehicle stability control utilizing static tire data

• US 20060190150A1
• Filed: 02/22/2006
• Published: 08/24/2006
• Est. Priority Date: 02/22/2005
• Status: Active Grant

• Current Assignee: Kelsey-Hayes Co. (Zeppelin - Stiftung der Stadt Friedrichshafen)
• Original Assignee: Kelsey-Hayes Co. (Zeppelin - Stiftung der Stadt Friedrichshafen)
• Inventors: Milot, Danny R.
• Granted Patent: US 7,983,801 B2
• Time in Patent Office: Days
• US Class Current: 701/38
• CPC Class Codes: B60C 23/04 mounted on the wheel or tyre
• CPC Class Codes: B60T 2230/02 Side slip angle, attitude angle, floating angle, drift angle
• CPC Class Codes: B60T 2240/03 Tire sensors
• CPC Class Codes: B60T 8/1725 Using tyre sensors, e.g. Sidewall Torsion sensors [SWT] for tyre pressure and temperature detection B60C23/00
• CPC Class Codes: B60T 8/1755 Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02

Abstract

A system for and a method of controlling the stability of a vehicle includes an electronic control system controlling a vehicle stability control subsystem based at least in part on static tire data received by the electronic control unit.

Claims

1. A system for controlling the stability of a vehicle comprising:

a vehicle stability control subsystem including components of the vehicle that affect stability of the vehicle during operation;

a tire having an ID tag containing data about at least one static characteristic of said tire; and

an electronic control unit coupled in communication with said ID tag to receive the data contained in said ID tag, said electronic control unit being programmed to calculate at least one of a wheel speed, a vehicle speed, a yaw rate and a sideslip based at least in part upon the data received by said electronic control unit from said ID tag, said electronic control unit being programmed to control said vehicle stability control subsystem based at least in part upon the calculation(s) made by said electronic control unit based upon the data received by said electronic control unit from said ID tag.

2. The system of claim 1 wherein the electronic control unit is programmed to utilizes at least of the equations:

WS=rev/th×

th/lp×

lp/ms=rev/ms;


WS₁=rev/ms×

1000 ms/s×

2π

R=m/s;

$V=\mathrm{\Sigma <br><br>}<br><br>\text{\hspace{1em}<br><br>}<br><br>{\mathrm{WS}}_1/\mathrm{WN};<br><br>$$\mathrm{R\_lin}=\frac{V}{L·<br><br>\left(1+\frac{V^2}{V_{\mathrm{char}}^2}\right)}<br><br>\mathrm{\delta <br><br>};<br><br>\mathrm{and}$$\stackrel{.}{\mathrm{\beta <br><br>}}=\left(\frac{C_{\mathrm{af}}+C_{\mathrm{ar}}}{\mathrm{MV}}\right)·<br><br>\mathrm{\beta <br><br>}+\left(\frac{{\mathrm{aC}}_{\mathrm{af}}-{\mathrm{bC}}_{\mathrm{ar}}-{\mathrm{mV}}^2}{{\mathrm{MV}}^{\text{\hspace{1em}<br><br>}<br><br>2}}\right)·<br><br>r+\left(\frac{-C_{\mathrm{af}}}{\mathrm{MV}}\right)·<br><br>\mathrm{\delta <br><br>}$

wherein;

WS is a wheel speed in rev/ms;

rev is revolutions;

th is the number of teeth on a tone wheel;

lp is the number of processing loops;

ms is milliseconds;

WS₁ is a wheel speed in m/s;

s is seconds

m is meters

R is a static rolling radius of a tire associated with a wheel in meters;

V is a vehicle speed in meters per second;

Σ

WS₁ is a sum of wheel speeds for a plurality wheels;

WN is the total number of wheels included in the plurality of wheels;

R_lin is a vehicle yaw rate;

L is the distance between front and rear tires;

V_char is a value of vehicle characteristic calculated from values of normal load and tire cornering stiffness;

δ

is a steering angle;

{dot over (β

)} is a rate of change of sideslip;

C_af is cornering stiffness-front tire;

C_ar is cornering stiffness-rear tire;

M is vehicle mass;

β

is a value of sideslip;

a is the distance between the front axle and the center of gravity;

b is the distance between the rear axle and the center of gravity; and

r is a yaw rate.

3. The system of claim 1 wherein said vehicle stability control subsystem includes at least one of a braking component of the vehicle, a vehicle powertrain component, a steering actuator, and a suspension actuator.

4. The system of claim 1 further comprising at least one sensor configured to detect at least one vehicle condition, wherein said electronic control unit is coupled in communication with said sensor to receive data representative of the vehicle condition detected by said sensor, said electronic control unit being programmed to control said vehicle stability control subsystem based at least in part upon the data received by said electronic control unit from said sensor.

5. The system of claim 4 wherein the vehicle condition is one of a steering wheel angle, a vehicle yaw rate, a longitudinal vehicle acceleration, a lateral vehicle acceleration, a wheel speed, and a vehicle speed.

6. The system of claim 1 further comprising a mechanism to transmit the sensor data to said electronic control unit controller.

7. The system of claim 1 wherein said electronic control unit controls said vehicle stability control subsystem by generating an output signal, said vehicle stability control subsystem responsive to the output signal.

8. The system of claim 1 wherein the data contained in said ID tag includes at least one of a static rolling radius, a tire size, a sidewall to sidewall width, an aspect ratio, a type of construction, an associated wheel diameter, a load index, a speed rating, a cornering stiffness, and a tire inertia property.

9. The system of claim 1 wherein said ID tag is an RFID tag.

10. The system of claim 9 wherein said RFID tag is a passive RFID tag.

11. The system of claim 9 wherein said RFID tag is an active RFID tag.

12. The system of claim 9 further comprising a circular antenna connected to said RFID, said circular antenna disposed about an inside circumference of the tire.

13. The system of claim 9 wherein said RFID tag operates in a frequency range from about 30 kHz to about 300 kHz.

14. The system of claim 13 wherein said RFID tag operates on a frequency of 125 kHz.

15. The system of claim 1 wherein the data contained in said ID tag includes at least one of a static rolling radius and a static cornering stiffness.

16. A method for controlling the stability of a vehicle comprising:

a. providing a vehicle stability control subsystem including components of the vehicle that affect stability of the vehicle during operation;

b. providing an electronic control unit for controlling the vehicle stability control subsystem;

c. providing a tire having an ID tag containing data about at least one static characteristic of the tire;

d. receiving the static tire data by the electronic control unit;

e. calculating at least one of a wheel speed, a vehicle speed, a yaw rate and a sideslip based at least in part upon the data received by said electronic control unit from said ID tag; and

f. controlling the vehicle stability subsystem with the electronic control unit based at least in part upon the calculation(s) made by said electronic control unit based upon the static tire data received by the electronic control unit.

17. The method of claim 16 wherein the calculating in step e. utilizes at least one of the equations:

WS=rev/th×

th/lp×

lp/ms=rev/ms;


WS₁=rev/ms×

1000 ms/s×

2π

R=m/s;


V=Σ

WS₁/WN;

$\mathrm{R\_lin}=\frac{V}{L·<br><br>\left(1+\frac{V^2}{V_{\mathrm{char}}^2}\right)}<br><br>\mathrm{\delta <br><br>};<br><br>\mathrm{and}$$\begin{array}{c}\stackrel{.}{\mathrm{\beta <br><br>}}=<br><br>\left(\frac{C_{\mathrm{af}}+C_{\mathrm{ar}}}{\mathrm{MV}}\right)·<br><br>\mathrm{\beta <br><br>}+\left(\frac{{\mathrm{aC}}_{\mathrm{af}}-{\mathrm{bC}}_{\mathrm{ar}}-{\mathrm{bC}}_{\mathrm{ar}}-{\mathrm{mV}}^2}{{\mathrm{MV}}^{\text{\hspace{1em}<br><br>}<br><br>2}}\right)·<br><br>\\ <br><br>r+\left(\frac{-C_{\mathrm{af}}}{\mathrm{MV}}\right)·<br><br>\mathrm{\delta <br><br>}.\end{array}$

wherein;

WS is a wheel speed in rev/ms;

rev is revolutions;

th is the number of teeth on a tone wheel;

lp is the number of processing loops;

ms is milliseconds;

WS₁ is a wheel speed in m/s;

s is seconds

m is meters

R is a static rolling radius of a tire associated with a wheel in meters;

V is a vehicle speed in meters per second;

Σ

WS₁ is a sum of wheel speeds for a plurality wheels;

WN is the total number of wheels included in the plurality of wheels;

R_lin is a vehicle yaw rate;

L is the distance between front and rear tires;

V_char is a value of vehicle characteristic calculated from values of normal load and tire cornering stiffness;

δ

is a steering angle;

{dot over (β

)} is a rate of change of sideslip;

C_af is cornering stiffness-front tire;

C_ar is cornering stiffness-rear tire;

M is vehicle mass;

β

is a value of sideslip;

a is the distance between the front axle and the center of gravity;

b is the distance between the rear axle and the center of gravity; and

r is a yaw rate.

18. The method of claim 16 wherein the controlling in step f. includes at least one of controlling the torque of a powertrain of the vehicle, controlling the apply force of a braking component of the vehicle, actuation of a steering actuator, and controlling the actuation of a suspension actuator.

19. The method of claim 16 further comprising the steps of

g. providing at least one sensor configured to detect at least one vehicle condition;

and

h. receiving sensor data representative of the vehicle condition detected in step g. by the electronic control unit; and

wherein the controlling in step f. includes controlling the vehicle stability subsystem with the electronic control unit based at least in part upon the sensor data received by the electronic control unit.

20. The method of claim 19 wherein the vehicle condition detected in step g. is one of a dynamic tire rolling radius, a lateral cornering stiffness, a wheel inertia value, dynamic tire rolling radius, a lateral cornering stiffness, a wheel inertia value, steering wheel angle, a vehicle yaw rate, and a vehicle speed.

21. The method of claim 19 further comprising the step of i. relaying the sensor data to the electronic control unit from the sensor.

22. The method of claim 16 wherein the controlling in step f. includes generating an output signal with the electronic control unit, and responding to the output signal with the vehicle stability control subsystem.

23. The method of claim 16 further comprising the step j., before step d., transmitting the static tire data with the ID tag, the ID tag being an RFID tag.

24. The method of claim 16 wherein the static tire data received in step d. includes at least one of a static rolling radius, a tire size, a sidewall to sidewall width, an aspect ratio, a type of construction, an associated wheel diameter, a load index, a speed rating, a cornering stiffness, and a tire inertia property.