System for determining torque and tire forces using integrated sensing system

• US 20070106443A1
• Filed: 11/09/2005
• Published: 05/10/2007
• Est. Priority Date: 11/09/2005
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Lu, Jianbo
• Granted Patent: US 8,121,758 B2
• Time in Patent Office: Days
• US Class Current: 701/70
• CPC Class Codes: B60T 2270/413 Plausibility monitoring, cross check, redundancy
• 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 vehicle (10) includes a control system (18) that is used to control a vehicle system. The control system determines an axle torque, and longitudinal forces at each tire in response to the axle torque. Lateral forces at each tire are determined in response to the longitudinal forces. The control system of the vehicle is determined in response to the longitudinal and lateral forces.

Claims

1. A method of controlling a vehicle having tires comprising:

determining an axle torque;

determining longitudinal forces at each tire in response to the axle torque;

determining lateral forces at each tire in response to the longitudinal forces; and

controlling a vehicle system in response to the longitudinal forces and the lateral forces.

2. A method as recited in claim 1 wherein determining an axle torque comprises determining the axle torque in response to an engine torque.

3. A method as recited in claim 1 wherein determining an axle torque comprises determining the axle torque in response to an axle speed.

4. A method as recited in claim 1 wherein determining longitudinal forces comprises determining longitudinal forces in response to a braking torque and the axle torque.

5. A method as recited in claim 1 wherein determining longitudinal forces comprises determining longitudinal forces in response to a braking torque, the axle torque and wheel speeds.

6. A method as recited in claim 1 wherein determining longitudinal forces comprises determining longitudinal forces in response to a braking torque, the axle torque and wheel acceleration.

7. A method as recited in claim 1 wherein determining lateral forces comprises determining lateral forces in response to the longitudinal forces and a steered wheel angle.

8. A method as recited in claim 1 wherein determining lateral forces comprises determining lateral forces in response to the longitudinal forces and a road frame longitudinal acceleration.

9. A method as recited in claim 8 further comprising determining the road frame longitudinal acceleration in response to a sensor lateral acceleration, a sensor vertical acceleration, a sensor longitudinal acceleration, a relative pitch angle and a relative roll angle.

10. A method as recited in claim 1 wherein determining lateral forces comprises determining lateral forces in response to the longitudinal force, a road frame longitudinal acceleration, a road frame lateral acceleration, a road frame yaw rate, a steered wheel angle.

11. A method as recited in claim 10 further comprising determining the road frame yaw rate in response to a sensor roll rate, a sensor yaw rate, a sensor pitch rate, a relative pitch angle and a relative roll angle.

12. A method as recited in claim 10 further comprising determining the road frame lateral acceleration in response to a sensor lateral acceleration, a sensor vertical acceleration, a relative pitch angle, and a relative roll angle.

13. A method of controlling a vehicle as recited in claim 1 wherein controlling a vehicle comprises controlling a vehicle safety system.

14. A method of controlling a vehicle as recited in claim 1 wherein controlling a vehicle comprises controlling a vehicle suspension.

15. A method of controlling a vehicle as recited in claim 1 wherein controlling a vehicle comprises controlling a dynamic control system.

16. A method of controlling a vehicle as recited in claim 15 wherein the dynamic control system comprises a roll stability control system.

21. A method of controlling a vehicle as recited in claim 7 wherein controlling a vehicle comprises controlling at least one of a vehicle safety system, a vehicle suspension, a dynamic control system, a roll stability control system, a yaw stability control system and a vehicle suspension.

17. A method of controlling a vehicle having a rear axle, said method comprising:

determining a road frame longitudinal acceleration;

determining a road frame lateral acceleration of the vehicle;

determining road frame yaw rate;

determining an axle torque in response to wheel speeds at the drive axle and an engine speed;

determining a steered wheel angle;

determining tire longitudinal tire forces in response to axle torque;

determining front tire lateral forces and a sum of tire lateral forces at the rear axle in response to the tire longitudinal forces the road frame longitudinal acceleration, the road frame lateral acceleration and the steered wheel angle; and

controlling a vehicle system in response to the tire longitudinal forces and the tire lateral forces.

18. A method as recited in claim 17 further comprising determining the road frame longitudinal acceleration in response to a sensor lateral acceleration, a sensor vertical acceleration, a sensor longitudinal acceleration, a relative pitch angle and a relative roll angle.

19. A method as recited in claim 17 further comprising determining the road frame yaw rate in response to a sensor roll rate, a sensor yaw rate, a sensor pitch rate, a relative pitch angle and a relative roll angle.

20. A method as recited in claim 17 further comprising determining the road frame lateral acceleration in response to a sensor lateral acceleration, a sensor vertical acceleration, a relative pitch angle and a relative roll angle.