INTEGRATED CONTROL SYSTEM FOR STABILITY CONTROL OF YAW, ROLL AND LATERAL MOTION OF A DRIVING VEHICLE USING AN INTEGRATED SENSING SYSTEM TO DETERMINE LATERAL VELOCITY
First Claim
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1. A method of controlling a vehicle comprising:
- determining a front lateral tire force;
determining a rear lateral tire force;
determining a linear sideslip angle from the front lateral tire force and the rear lateral tire force;
determining a linear lateral velocity in response to the linear sideslip angle; and
controlling the vehicle in response to the linear lateral velocity.
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Abstract
A method of controlling a vehicle includes determining a lateral tire force, a front lateral tire force, a rear lateral tire force, and determining a linear sideslip angle from the front lateral tire force and the rear lateral tire force. The method further includes determining a linear lateral velocity in response to the linear sideslip angle and controlling the vehicle in response to the linear sideslip angle.
66 Citations
23 Claims
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1. A method of controlling a vehicle comprising:
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determining a front lateral tire force; determining a rear lateral tire force; determining a linear sideslip angle from the front lateral tire force and the rear lateral tire force; determining a linear lateral velocity in response to the linear sideslip angle; and controlling the vehicle in response to the linear lateral velocity. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A method of controlling a vehicle comprising:
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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 pitch rate from a pitch rate sensor; determining a lateral acceleration from a lateral acceleration sensor; a vertical acceleration from a vertical acceleration sensor; determining a front lateral tire force in response to the yaw rate, pitch rate, roll rate, lateral acceleration and vertical acceleration; determining a rear lateral tire force in response to the yaw rate, pitch rate, roll rate, lateral acceleration and vertical acceleration; determining a linear sideslip angle from the front lateral tire force and the rear lateral tire force; determining a linear lateral velocity in response to the linear sideslip angle; and controlling the vehicle in response to the linear lateral velocity. - View Dependent Claims (20, 21, 22, 23)
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Specification