INTEGRATED CONTROL SYSTEM FOR STABILITY CONTROL OF YAW, ROLL AND LATERAL MOTION OF A DRIVING VEHICLE USING AN INTEGRATED SENSING SYSTEM WITH PITCH INFORMATION
First Claim
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.
2 Assignments
0 Petitions
Accused Products
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.
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Citations
33 Claims
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1. 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 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. - View Dependent Claims (3, 4, 5, 6, 7, 8, 9)
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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.
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10. 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 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. - View Dependent Claims (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 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. - View Dependent Claims (20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32)
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33. A method of controlling a vehicle having a brake and an electronic throttle comprising:
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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.
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Specification