INTEGRATED CONTROL SYSTEM FOR STABILITY CONTROL OF YAW, ROLL AND LATERAL MOTION OF A DRIVING VEHICLE USING AN INTEGRATED SENSING SYSTEM TO DETERMINE LONGITUDINAL VELOCITY

• US 20080059021A1
• Filed: 08/30/2006
• Published: 03/06/2008
• Est. Priority Date: 08/30/2006
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Lu, Jianbo, Meyers, Joseph
• Granted Patent: US 8,712,639 B2
• Time in Patent Office: Days
• US Class Current: 701/36
• 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 2400/0521 Roll rate
• CPC Class Codes: B60G 2400/0522 Pitch rate
• CPC Class Codes: B60G 2400/0523 Yaw rate
• CPC Class Codes: B60G 2400/104 lateral or transversal with regard to vehicle
• CPC Class Codes: B60G 2400/106 longitudinal with regard to vehicle, e.g. braking
• CPC Class Codes: B60G 2400/204 Vehicle speed
• CPC Class Codes: B60G 2400/208 of wheel rotation
• CPC Class Codes: B60G 2400/252 vertical
• CPC Class Codes: B60G 2400/41 Steering angle
• CPC Class Codes: B60G 2400/44 Steering speed
• CPC Class Codes: B60G 2600/1873 Model Following
• CPC Class Codes: B60G 2800/012 Rolling condition
• CPC Class Codes: B60G 2800/014 Pitch; Nose dive
• CPC Class Codes: B60G 2800/016 Yawing condition
• CPC Class Codes: B60G 2800/0192 longitudinal with regard to vehicle
• CPC Class Codes: B60G 2800/0194 transversal with regard to vehicle
• CPC Class Codes: B60G 2800/21 Traction, slip, skid or slide control
• CPC Class Codes: B60G 2800/212 Transversal; Side-slip during cornering
• CPC Class Codes: B60G 2800/702 Improving accuracy of a sensor signal
• CPC Class Codes: B60G 2800/912 : Attitude Control; levelling control
• CPC Class Codes: B60G 2800/92 : ABS - Brake Control
• CPC Class Codes: B60G 2800/925 : Airbag deployment systems
• CPC Class Codes: B60G 2800/95 : Automatic Traction or Slip Control [ATC]
• CPC Class Codes: B60G 2800/97 : Engine Management System [EMS]
• CPC Class Codes: B60W 10/06 : including control of combustion engines
• CPC Class Codes: B60W 10/184 : with wheel brakes
• CPC Class Codes: B60W 10/22 : including control of suspension systems
• CPC Class Codes: B60W 2030/041 : about the pitch axis
• CPC Class Codes: B60W 2030/043 : about the roll axis
• CPC Class Codes: B60W 40/101 : Side slip angle of tyre

Abstract

A method of controlling a vehicle includes determining an acceleration-based longitudinal velocity, determining a wheel speed-based longitudinal velocity from a plurality of wheel speed sensors, combining the acceleration-based longitudinal velocity and the wheel speed-based longitudinal velocity to obtain a final longitudinal velocity and controlling vehicle with the final longitudinal velocity.

Claims

1. A method of controlling a vehicle comprising:

determining an acceleration-based longitudinal vehicle velocity;

determining a wheel speed-based longitudinal velocity from a plurality of wheel speed sensors;

combining the acceleration-based longitudinal velocity and wheel speed based longitudinal velocity to obtain a final longitudinal velocity; and

controlling a vehicle with the final longitudinal velocity.

2. A method as recited in claim 1 wherein determining a wheel speed-based longitudinal velocity comprises determining the wheel speed base longitudinal velocity from three wheel speed sensors.

3. A method as recited in claim 1 wherein determining a wheel speed-based longitudinal velocity comprises determining the wheel speed base longitudinal velocity from four wheel speed sensors.

4. A method as recited in claim 1 wherein determining a wheel speed-based longitudinal velocity comprises determining the wheel speed-based longitudinal velocity from four wheel speed sensors, a steered wheel angle and a sideslip angle.

5. A method as recited in claim 1 wherein determining a wheel speed-based longitudinal velocity comprises determining the wheel speed-based longitudinal velocity from four wheel speed sensors, a yaw rate, a steered wheel angle and a sideslip angle.

6. A method as recited in claim 1 wherein determining an acceleration-based longitudinal vehicle velocity comprises determining an acceleration-based longitudinal vehicle velocity of a rear axle.

7. A method as recited in claim 1 wherein determining an acceleration-based longitudinal vehicle velocity comprises determining the acceleration-based longitudinal vehicle velocity from a longitudinal acceleration.

8. A method as recited in claim 1 wherein determining an acceleration-based longitudinal vehicle velocity comprises determining the acceleration-based longitudinal vehicle velocity from a moving road frame longitudinal acceleration.

9. A method as recited in claim 1 wherein determining an acceleration-based longitudinal vehicle velocity comprises determining the acceleration-based longitudinal vehicle velocity from a longitudinal acceleration, a yaw rate and a pitch rate.

10. A method as recited in claim 1 wherein determining an acceleration-based longitudinal vehicle velocity comprises determining the acceleration-based longitudinal vehicle velocity from a longitudinal acceleration, a yaw rate, a pitch rate, a lateral velocity and a pitch angle.

11. A method as recited in claim 1 wherein determining an acceleration-based longitudinal vehicle velocity comprises determining the acceleration-based longitudinal vehicle velocity from a longitudinal acceleration, a yaw rate, a pitch rate, a lateral velocity at the rear axle and a pitch angle.

12. A method as recited in claim 1 wherein determining an acceleration-based longitudinal vehicle velocity comprises determining the acceleration-based longitudinal vehicle velocity from a longitudinal acceleration, a yaw rate, a pitch rate, a lateral velocity and a pitch angle in a moving road frame.

13. A method as recited in claim 12 further comprising determining the pitch angle in a moving road frame in response to a global pitch angle and a relative pitch angle.

14. A method as recited in claim 12 further comprising determining the pitch angle in a moving road frame in response to a sensor-frame-based-global pitch angle, a change in global pitch angle and a relative pitch angle.

15. A method of controlling a vehicle comprising:

determining a wheel speed status;

determining a drivetrain mode;

determining an acceleration-based longitudinal vehicle velocity in response to the wheel status and drivetrain mode;

determining a wheel speed-based longitudinal velocity from a plurality of wheel speed sensors;

combining the acceleration-based longitudinal velocity and wheel speed based longitudinal velocity to obtain a final longitudinal velocity; and

controlling a vehicle with the final longitudinal velocity.

16. A method as recited in claim 15 wherein determining a wheel speed status comprises a braking or non-braking status.

17. A method as recited in claim 15 wherein determining a wheel speed status comprises an accelerating or decelerating status.

18. A method as recited in claim 15 wherein determining a wheel speed status comprises a divergent or convergent status.

19. A method as recited in claim 15 wherein determining a drive train mode comprises determining a torque-on-demand mode.

20. A method as recited in claim 15 wherein determining a drive train mode comprises determining a rear wheel drive mode.

21. A method as recited in claim 15 wherein determining a drive train mode comprises determining a four-wheel drive mode.