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

• US 20080059034A1
• 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
• Granted Patent: US 7,885,750 B2
• Time in Patent Office: Days
• US Class Current: 701/71
• 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 8/17552 responsive to the tire sideslip angle or the vehicle body slip angle
• CPC Class Codes: B60W 40/072 Curvature of the road
• CPC Class Codes: B60W 40/076 Slope angle of the road
• CPC Class Codes: B60W 40/101 Side slip angle of tyre

Abstract

A method of controlling a vehicle includes determining a desired sideslip angle in the moving road plane, determining an actual sideslip angle in the moving road plane, a desired yaw rate in the moving road plane, and an actual yaw rate in the moving road plane. A controller controls the vehicle system in response to the desired slip angle, the actual sideslip angle, the desired yaw rate and the actual yaw rate in the moving road plane.

Claims

1. A method of controlling a vehicle comprising:

determining a moving road plane lateral acceleration;

determining a moving road plane yaw rate;

determining a moving road plane longitudinal velocity;

determining a final sideslip angle in response to the moving road plane lateral acceleration, the moving road plane yaw rate, and the moving road plane longitudinal velocity; and

controlling the vehicle in response to the final sideslip angle.

2. A method as recited in claim 1 further comprising determining the moving road plane lateral acceleration in response to a vehicle lateral acceleration and a vertical acceleration.

3. A method as recited in claim 1 further comprising determining the moving road plane lateral acceleration in response to a vehicle lateral acceleration, a vertical acceleration, a relative roll angle and a relative pitch angle.

4. A method as recited in claim 1 further comprising determining the moving road plane yaw rate in response to a roll rate, yaw rate and a pitch rate.

5. A method as recited in claim 1 further comprising determining the moving road plane yaw rate in response to a roll rate, yaw rate, a pitch rate, a relative roll angle and a relative pitch angle.

6. A method as recited in claim 1 further comprising determining the moving road plane longitudinal velocity in response to a steering angle of road wheel and a plurality of wheel speed sensors.

7. A method as recited in claim 1 further comprising determining a steady state sideslip angle and a dynamic sideslip angle in response to the moving road plane lateral acceleration, the moving road plane yaw rate and the moving road plane longitudinal velocity.

8. A method of controlling a vehicle comprising:

determining a yaw rate from a yaw rate sensor;

determining a pitch rate from pitch rate sensor;

determining a roll rate from a roll rate sensor;

determining a lateral acceleration from a lateral acceleration sensor;

determining a longitudinal acceleration from a longitudinal acceleration sensor;

a vertical acceleration from a vertical acceleration sensor;

a vehicle speed sensor generating a vehicle speed;

determining a final sideslip angle in response to the yaw rate, pitch rate, roll rate, the lateral acceleration, vehicle speed, vertical acceleration and longitudinal acceleration; and

controlling a vehicle system in response to the final sideslip angle.

9. A method as recited in claim 8 wherein determining a lateral acceleration comprises determining a moving road plane lateral acceleration.

10. A method as recited in claim 8 further comprising determining the moving road plane lateral acceleration in response to a vehicle lateral acceleration and a vertical acceleration.

11. A method as recited in claim 8 further comprising determining the moving road plane lateral acceleration in response to a vehicle lateral acceleration, a vertical acceleration, a relative roll angle and a relative pitch angle.

12. A method as recited in claim 8 wherein determining a yaw rate comprises determining a moving road plane yaw rate.

13. A method as recited in claim 8 further comprising determining the moving road plane yaw rate in response to a roll rate, yaw rate and a pitch rate.

14. A method as recited in claim 8 further comprising determining the moving road plane yaw rate in response to a roll rate, yaw rate, a pitch rate, a relative roll angle and a relative pitch angle.

15. A method as recited in claim 8 wherein determining a longitudinal acceleration comprises determining a moving road plane longitudinal acceleration.

16. A method as recited in claim 8 wherein the vehicle system comprises a yaw control system.

17. A method of controlling a vehicle comprising:

determining a yaw rate from a yaw rate sensor;

determining a pitch rate from pitch rate sensor;

determining a roll rate from a roll rate sensor;

determining a lateral acceleration from a lateral acceleration sensor;

determining a vertical acceleration from a vertical acceleration sensor;

determining a vehicle longitudinal velocity;

determining a dynamic state sideslip angle in response to the yaw rate, pitch rate, roll rate, the lateral acceleration, a vertical acceleration and the vehicle longitudinal velocity;

determining a steady state sideslip angle in response to the vehicle longitudinal velocity; and

controlling a vehicle system in response to the final sideslip angle.

18. A method as recited in claim 17 wherein determining a steady state sideslip angle comprises determining the steady state sideslip angle in response to the longitudinal vehicle velocity, the vertical acceleration, the pitch rate and roll rate.

19. A method as recited in claim 17 further comprising determining a longitudinal acceleration from a longitudinal acceleration sensor, wherein determining a dynamic sideslip angle comprises determining the dynamic sideslip angle in response to the pitch rate, yaw rate, roll rate, longitudinal vehicle velocity, the lateral acceleration, longitudinal acceleration and the vertical acceleration.

20. A method as recited in claim 17 wherein controlling said vehicle system comprises at least one function selected from roll stability control, yaw stability control, and lateral stability control.

21. A method as recited in claim 17 wherein controlling comprises controlling a brake system.

22. A method as recited in claim 17 wherein controlling comprises controlling a throttle control system.

23. A method as recited in claim 17 wherein controlling comprises controlling a brake system and a throttle control system.