Vehicle stability enhancement control adaptation to driving skill
First Claim
1. A vehicle stability enhancement system for providing vehicle stability control for a vehicle, said system comprising:
- a driver skill recognition processor for providing a driver skill level signal indicative of the driving skill of a driver driving the vehicle;
a dynamic command generator responsive to vehicle operation signals and the driver skill level signal, said dynamic command generator generating a desired yaw rate signal and a desired side-slip signal; and
a dynamic control computation processor responsive to the driver skill level signal, the desired yaw rate signal, the desired side-slip signal, a measured yaw rate signal and a measured side-slip signal, said dynamic control computation processor generating a stability control signal for controlling the vehicle.
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Abstract
A vehicle stability enhancement (VSE) system that is adapted for driver skill level. The system includes a driver skill recognition processor that determines the driver skill level based on a driver model that uses certain parameters, such as a steering gain factor and a time delay factor. The driver skill level is used to adjust the damping ratio and natural frequency in dynamic filters in a dynamic command generator to adjust a desired yaw rate signal and a desired side-slip signal. The driver skill level is also used to generate a yaw rate multiplication factor and a side-slip multiplication factor that modify a yaw rate stability signal and a side-slip stability signal in a dynamic control computation processor that generates a stability control signal.
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Citations
20 Claims
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1. A vehicle stability enhancement system for providing vehicle stability control for a vehicle, said system comprising:
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a driver skill recognition processor for providing a driver skill level signal indicative of the driving skill of a driver driving the vehicle;
a dynamic command generator responsive to vehicle operation signals and the driver skill level signal, said dynamic command generator generating a desired yaw rate signal and a desired side-slip signal; and
a dynamic control computation processor responsive to the driver skill level signal, the desired yaw rate signal, the desired side-slip signal, a measured yaw rate signal and a measured side-slip signal, said dynamic control computation processor generating a stability control signal for controlling the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A vehicle stability enhancement system for providing vehicle stability control for a vehicle, said system comprising:
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a driver skill recognition processor for providing a driver skill level signal indicative of the driving skill of a driver driving the vehicle, said driver skill recognition processor using a driver model and vehicle parameters to generate the driver skill level signal;
a dynamic command generator responsive to a vehicle speed signal, a hand-wheel angle signal and the driver skill level signal, said dynamic command generator generating a desired yaw rate signal and a desired side-slip signal, said dynamic command generator including a yaw rate command generator and a side-slip command generator, said yaw rate command generator including a first filter responsive to a steady-state yaw rate signal and using a damping ratio and a natural frequency to filter the steady-state yaw rate signal, said side-slip command generator including a second filter responsive to a steady-state side-slip signal and using the damping ratio and the natural frequency to filter the steady-state side-slip signal, said dynamic command generator further including a control command adaptation processor responsive to the driver skill level signal, where the control command adaptation processor changes the damping ratio and the natural frequency in the first and second filters depending on the driver skill level signal; and
a dynamic control computation processor responsive to the driver skill signal, the desired yaw rate signal, the desired side-slip signal, a measured yaw rate signal and a measured side-slip signal, said dynamic control computation processor generating a first error signal as the difference between the desired yaw rate signal and the measured yaw rate signal and a second error signal as the difference between the desired side-slip signal and the measured side-slip signal, said dynamic control computation processor including a first look-up table that provides a yaw rate gain signal in response to the yaw rate error signal and a second look-up table that provides a side-slip gain signal in response to the side-slip error signal, said dynamic control processor further including a first multiplier that multiplies the yaw rate error signal times the yaw rate gain signal to generate a yaw rate stability signal and a second multiplier that multiplies the side-slip error signal times the side-slip gain signal to generating a side-slip stability signal, said dynamic control computation processor further including a control gain adaptation processor responsive to the driver skill level signal and generates a yaw rate multiplier factor and a side-slip multiplier factor, said dynamic control computation processor further including a third multiplier that multiplies the yaw rate stability signal times the yaw rate multiplier factor to generate a modified yaw rate stability signal and a fourth multiplier that multiplies the side-slip stability signal times the side-slip multiplier factor to generate a modified side-slip stability signal, said dynamic control computation processor further including an adder that adds the modified yaw rate stability signal and the modified side-slip stability signal to generate a stability control signal. - View Dependent Claims (13, 14, 15)
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16. A vehicle stability enhancement system for providing vehicle stability control for a vehicle, said system comprising:
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a driver skill recognition processor for providing a driver skill level signal indicative of the driving skill of a driver driving the vehicle;
a dynamic command generator responsive to vehicle operation signals and the driver skill level signal, said driver skill level signal changing a damping ratio and a natural frequency in a filter in the dynamic command generator, said dynamic command generator generating at least one desired vehicle response signal; and
a dynamic control computation processor responsive to the driver skill level signal, the at least one desired vehicle response signal and at least one measured vehicle response signal, said dynamic control computation processor adjusting a multiplication factor for the at least one vehicle response signal, said dynamic control computation processor generating a stability control signal for controlling the vehicle. - View Dependent Claims (17, 18, 19, 20)
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Specification