METHOD FOR DETERMINING CONTROLLED VARIABLE OF COORDINATE CONTROL ON SPLIT ROAD SURFACE USING DECELERATION OF VEHICLE

• US 20090248249A1
• Filed: 02/26/2009
• Published: 10/01/2009
• Est. Priority Date: 03/28/2008
• Status: Abandoned Application

• Current Assignee: HL Mando Corporation (Halla Holdings Corporation)
• Original Assignee: Mando Corporation
• Inventors: Park, In Hye
• Application Number:
  US12/393,703
• Publication Number:
  US 20090248249A1
• Time in Patent Office: Days
• US Class Current: 701/42
• CPC Class Codes: B60T 2260/024 Yawing moment compensation during mu-split braking
• CPC Class Codes: B60T 8/1755 Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02
• CPC Class Codes: B60T 8/1764 Regulation during travel on surface with different coefficients of friction, e.g. between left and right sides, mu-split or between front and rear
• CPC Class Codes: B62D 6/003 in order to control vehicle yaw movement, i.e. around a vertical axis B62D6/007 takes precedence

Abstract

Disclosed herein is a method of determining a controlled variable of coordinate control on a split road surface using deceleration of a vehicle. The method includes calculating deceleration of the vehicle by differentiating a reference velocity (Vref) calculated by an electronic stability control system, calculating an override angle of an active front-wheel steering system by multiplying the deceleration of the vehicle by a control gain, determining a control direction of the vehicle, and obtaining a controlled variable for a steering angle by multiplying the calculated override angle of the active front-wheel steering system by the determined control direction of the vehicle. The method enables the vehicle to maintain a straight behavior without driver'"'"'s steering intervention when the driver brakes on the split road surface

Claims

1. A method of determining a controlled variable of coordinate control on a split road surface using deceleration of a vehicle, the method comprising:

calculating a deceleration of the vehicle by differentiating a reference velocity (Vref) calculated by an electronic stability control system;

calculating an override angle of an active front-wheel steering system by multiplying the deceleration of the vehicle by a control gain;

determining a control direction of the vehicle; and

obtaining a controlled variable for a steering angle by multiplying the calculated override angle of the active front-wheel steering system by the determined control direction of the vehicle.

2. The method according to claim 1, further comprising:

determining whether a driver intends to steer when braking on the road surface having dissymmetry friction;

applying a limit value of the controlled variable for the steering angle differently according to whether the driver intends to steer;

comparing the controlled variable for the steering angle with the limit value of the controlled variable for the steering angle;

outputting the controlled variable for the steering angle as a controlled variable if the controlled variable for the steering angle is less than or equal to the limit value of the controlled variable for the steering angle; and

outputting the limit value of the controlled variable for the steering angle as a controlled variable if the controlled variable for the steering angle is more than the limit value of the controlled variable for the steering angle.

3. The method according to claim 1 wherein the control direction of the vehicle is set to 1 with respect to a “

+”

direction and −

1 with respect to a “

−

”

direction based on braking pressure of each of the left and right wheels.

4. The method according to claim 2 wherein the determining whether a driver intends to steer is performed based on a driver'"'"'s steering angle and a driver'"'"'s steering angular velocity.