INTEGRATED CONTROL SYSTEM FOR STABILITY CONTROL OF YAW, ROLL AND LATERAL MOTION OF A DRIVING VEHICLE USING AN INTEGRATED SENSING SYSTEM WITH PITCH INFORMATION

• US 20080086248A1
• Filed: 08/30/2006
• Published: 04/10/2008
• 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, Brown, Todd
• Granted Patent: US 7,970,512 B2
• Time in Patent Office: Days
• US Class Current: 701/41
• CPC Class Codes: B29C 48/03 characterised by the shape of the extruded material at extrusion
• CPC Class Codes: B29K 2027/18 PTFE, i.e. polytetrafluorethene , e.g. ePTFE, i.e. expanded polytetrafluorethene
• CPC Class Codes: B29K 2105/16 Fillers
• CPC Class Codes: B29K 2105/162 Nanoparticles
• CPC Class Codes: B29L 2023/001 Tubular films, sleeves
• CPC Class Codes: B60T 2230/02 Side slip angle, attitude angle, floating angle, drift angle
• CPC Class Codes: B60T 2230/03 Overturn, rollover
• CPC Class Codes: B60T 2250/04 Vehicle reference speed; Vehicle body speed
• CPC Class Codes: B60T 2260/09 Complex systems; Conjoint control of two or more vehicle active control systems
• CPC Class Codes: B60T 8/171 Detecting parameters used in the regulation; Measuring values used in the regulation
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence
• 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

An integrated stability control system using the signals from an integrated sensing system for an automotive vehicle includes a plurality of sensors sensing the dynamic conditions of the vehicle. The sensors include an IMU sensor cluster, a steering angle sensor, wheel speed sensors, any other sensors required by subsystem controls. The signals used in the integrated stability controls include the sensor signals; the roll and pitch attitudes of the vehicle body with respect to the average road surface; the road surface mu estimation; the desired sideslip angle and desired yaw rate from a four-wheel reference vehicle model; the actual vehicle body sideslip angle projected on the moving road plane; and the global attitudes. The demand yaw moment used to counteract the undesired vehicle lateral motions (under-steer or over-steer or excessive side sliding motion) are computed from the above-mentioned variables. The braking control is a slip control whose target slip ratios at selective wheels or wheel are directly generated from the request brake pressures computed from the demand yaw moment.

Claims

1. 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 lateral acceleration from a lateral acceleration sensor;

determining a vehicle speed from a vehicle speed sensor; and

controlling a stability control system to provide yaw stability control in response to the yaw rate, the pitch rate, the lateral acceleration and the vehicle speed.

3. A method as recited in claim 1 further comprising determining a steering wheel angle from a steering wheel angle sensor and wherein controlling a yaw control system comprises controlling the stability control system in response to the yaw rate, pitch rate, the lateral acceleration, vehicle speed and the steering wheel angle.

4. A method as recited in claim 1 further comprising determining a longitudinal acceleration from a longitudinal acceleration sensor and wherein controlling a stability control system comprises controlling the stability control system in response to the yaw rate, pitch rate, the lateral acceleration, vehicle speed and the longitudinal acceleration.

5. A method as recited in claim 1 further comprising determining a vertical acceleration from a vertical acceleration sensor and wherein controlling a stability control system comprises controlling the stability control system in response to the yaw rate, pitch rate, the lateral acceleration, vehicle speed and the vertical acceleration.

6. A method as recited in claim 1 wherein the vehicle speed sensor comprises a plurality of wheel speed sensors.

7. A method as recited in claim 1 further comprising determining a sideslip error from the pitch rate, lateral acceleration, and a longitudinal velocity and controlling the stability control system in response to the sideslip error.

8. A method as recited in claim 1 further comprising determining a yaw rate error from the pitch rate, lateral acceleration, and a longitudinal velocity and controlling the stability control system in response to the yaw rate error.

9. A method as recited in claim 1 further comprising determining a sideslip error and a yaw rate error and wherein controlling comprises controlling the vehicle in response to the yaw rate error and the sideslip error.

2. A method as recited in claim a further comprising determining a roll rate from a roll rate sensor and wherein said stability control system is controlled in response to said roll rate to provide roll stability control.

10. 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 lateral acceleration sensor;

a vehicle speed sensor generating a vehicle speed;

controlling a stability control system in response to the yaw rate, pitch rate, the lateral acceleration, vehicle speed, roll rate and longitudinal acceleration.

11. A method as recited in claim 10 further comprising determining a steering wheel angle from a steering wheel angle sensor and wherein controlling a stability control system comprises controlling the stability control system in response to the yaw rate, pitch rate, the lateral acceleration, vehicle speed, roll rate and longitudinal acceleration, and steering wheel angle.

12. A method as recited in claim 10 further comprising determining a vertical acceleration from a vertical acceleration sensor and wherein controlling a stability control system comprises controlling the stability control system in response to the yaw rate, pitch rate, the lateral acceleration, vehicle speed, roll rate and longitudinal acceleration and the vertical acceleration.

13. A method as recited in claim 10 further comprising determining a steering wheel angle from a steering wheel angle sensor and wherein controlling a stability control system comprises controlling the stability control system in response to the yaw rate, pitch rate, the lateral acceleration, vehicle speed, roll rate and longitudinal acceleration, the vertical acceleration and steering wheel angle.

14. A method as recited in claim 10 wherein the vehicle speed sensor comprises a plurality of wheel speed sensors.

15. A method as recited in claim 10 further comprising determining a sideslip error from the pitch rate, lateral acceleration, and a longitudinal velocity and controlling the stability control system in response to the sideslip error.

16. A method as recited in claim 10 further comprising determining a sideslip error from the pitch rate, the yaw rate, the roll rate, a lateral acceleration, and a longitudinal velocity and controlling the stability control system in response to the sideslip error.

17. A method as recited in claim 10 further comprising determining a yaw rate error from the pitch rate, yaw rate, roll rate, a lateral acceleration, and a longitudinal velocity and controlling the stability control system in response to the yaw rate error.

18. A method as recited in claim 10 further comprising determining a sideslip error and a yaw rate error and wherein controlling comprises controlling the vehicle in response to the yaw rate error and the sideslip error.

19. A method of controlling a vehicle comprising:

determining a desired sideslip angle in the moving road plane;

determining an actual sideslip angle in the moving road plane;

determining a desired yaw rate in the moving road plane;

determining an actual yaw rate in the moving road plane; and

controlling a vehicle system in response to the desired sideslip angle in the moving road plane, the actual sideslip angle in the moving road plane, the desired yaw rate in the moving road plane and the actual yaw rate in the moving road plane.

20. A method as recited in claim 19 wherein determining an actual sideslip angle comprises determining the actual sideslip angle in response to a moving reference plane lateral acceleration and a moving reference plane longitudinal acceleration.

21. A method as recited in claim 19 further comprising determining the moving reference plane lateral acceleration in response to a pitch angle of the vehicle, a roll angle of the vehicle.

22. A method as recited in claim 19 wherein the pitch angle comprises a relative pitch angle and the roll angle comprises a relative roll angle.

23. A method as recited in claim 19 further comprising determining the moving road plane lateral acceleration in response to a pitch angle of the vehicle, a roll angle of the vehicle, a lateral acceleration of the vehicle, a vertical acceleration of the vehicle and a longitudinal acceleration of the vehicle.

24. A method as recited in claim 19 further comprising determining a lateral acceleration of the vehicle in response to a lateral acceleration sensor in the body frame.

25. A method as recited in claim 19 further comprising determining a longitudinal acceleration of the vehicle in response to a longitudinal acceleration sensor in the body frame.

26. A method as recited in claim 19 further comprising determining the moving reference plane longitudinal acceleration in response to a pitch angle of the vehicle, a roll angle of the vehicle, a lateral acceleration of the vehicle and a vertical acceleration of the vehicle.

27. A method as recited in claim 19 wherein the pitch angle comprises a relative pitch angle and the roll angle comprises a relative roll angle.

28. A method as recited in claim 19 wherein determining an actual yaw rate comprises determining the actual yaw rate in response to a yaw rate signal from a yaw rate sensor, a pitch rate signal from a pitch rate sensor and a roll rate signal from a roll rate sensor.

29. A method as recited in claim 19 wherein controlling a vehicle system comprises controlling a stability control system.

30. A method as recited in claim 19 wherein controlling a vehicle system comprises controlling a vehicle braking system.

31. A method as recited in claim 19 wherein controlling a vehicle system comprises controlling an electronic throttle control.

32. A method as recited in claim 19 wherein controlling a vehicle system comprises controlling a vehicle braking system and an electronic throttle control.

33. A method of controlling a vehicle having a brake and an electronic throttle comprising:

determining a relative roll angle and a relative pitch angle;

determining a body-fixed frame longitudinal acceleration, a body-fixed frame lateral acceleration and a body-fixed frame vertical acceleration;

transforming the body-fixed frame longitudinal acceleration, body-fixed frame lateral acceleration and body-fixed frame vertical acceleration to a moving road plane lateral acceleration, a moving road plane longitudinal acceleration and a moving road plane vertical acceleration using a relative roll angle and a relative pitch angle;

computing the actual vehicle sideslip angle measured on the moving road plane;

computing the desired yaw rate and desired sideslip angle measured on the moving road plane;

computing the sideslip angle difference between the actual sideslip angle and the desired sideslip angle to form a sideslip error;

computing the yaw rate error between the actual yaw rate and the desired yaw rate;

computing a demand yaw moment based on the sideslip error and yaw rate error;

computing the target wheel longitudinal slip ratio based on the demand yaw moment to command the brake to conduct slip control;

controlling the vehicle brakes to conduct slip control based on the target wheel longitudinal slip ratio.