DECELERATION CONTROL FOR A VEHICLE

• US 20100007200A1
• Filed: 07/10/2008
• Published: 01/14/2010
• Est. Priority Date: 07/10/2008
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH, Robert Bosch LLC (Robert Bosch GmbH)
• Original Assignee: Robert Bosch GmbH
• Inventors: Pelosse, Jean Francois
• Granted Patent: US 8,256,851 B2
• Time in Patent Office: Days
• US Class Current: 303/7
• CPC Class Codes: B60T 7/20 specially for trailers, e.g. in case of uncoupling of or overrunning by trailer inertia-actuated overrun brakes B60T13/08

Abstract

A method, a vehicle using the method, and a system using the method, of controlling the vehicle configured to tow a trailer. The method includes determining first and second vehicle parameters indicative of first and second conditions of the vehicle, and determining a trailer presence from at least one of the first and second vehicle parameters. The method also includes updating the first vehicle parameter when the trailer is present, generating a third vehicle parameter, and determining first and second braking control parameters from the first, second, and third vehicle parameters. The first braking control parameter corresponds to at least one of the second and third vehicle parameters, and the second braking control parameter correspond to at least one of the first and second vehicle parameters. The method can further include generating a braking signal based on one of the first and second braking control parameters.

Claims

1. A method of controlling a vehicle configured to tow a trailer, the method comprising:

determining first and second vehicle parameters indicative of first and second conditions of the vehicle;

determining a trailer presence from at least one of the first and second vehicle parameters;

updating the first vehicle parameter when the trailer is present, thereby generating a third vehicle parameter;

determining first and second braking control parameters from the first, second, and third vehicle parameters, the first braking control parameter corresponding to at least one of the second and third vehicle parameters, and the second braking control parameter corresponding to at least one of the first and second vehicle parameters; and

generating a braking signal based on one of the first and second braking control parameters.

2. The method of claim 1, wherein generating a braking signal comprises determining a minimum braking control parameter from the first and second braking control parameters.

3. The method of claim 1, wherein at least one of the first and second braking control parameters comprises one of an achievable acceleration, and a jerk value.

4. The method of claim 1, further comprising setting the third vehicle parameter to the first vehicle parameter when the trailer is absent.

5. The method of claim 1, wherein determining first and second braking control parameters comprises determining first and second correlations between the updated first vehicle parameter, the first vehicle parameter, and the second vehicle parameter.

6. The method of claim 5, further comprising determining first and second correlations in parallel.

7. The method of claim 1, wherein at least one of the first and second vehicle parameters comprises at least one of longitudinal acceleration, lateral acceleration, total load, coefficient of friction, yaw rate, temperature, and wiper activity.

8. A method of controlling a vehicle operable to tow a trailer, the method comprising:

determining first and second vehicle parameters indicative of first and second conditions of the vehicle;

determining first and second correlations based on the first and second vehicle parameters;

determining first and second braking control parameters based on the first and second correlations, the first braking control parameter corresponding to the first correlation, and the second braking control parameter corresponding to the first and second correlations; and

determining from one of the first and second braking control parameters an achievable braking control parameter for the vehicle.

9. The method of claim 8, further comprising:

determining a trailer presence from at least one of the first and second vehicle parameters; and

updating the first vehicle parameter if the trailer is present.

10. The method of claim 8, wherein an achievable braking control parameter comprises a minimum of the first and second braking control parameters.

11. The method of claim 8, wherein at least one of the first and second the braking control parameters comprises at least one of an achievable acceleration, and a jerk value.

12. The method of claim 8, further comprising determining the first and second correlations in parallel.

13. The method of claim 8, wherein at least one of the first and second vehicle parameters comprises at least one of longitudinal acceleration, lateral acceleration, total load, coefficient of friction, yaw rate, temperature, and wiper activity.

14. A system for controlling a vehicle operable to tow a trailer, the system comprising:

first and second sensors configured to sense respective first and second vehicle parameters indicative of one or more conditions of the vehicle;

a correlator configured to determine a plurality of correlations based on at least one of the first and second vehicle parameters;

an acceleration limiter configured to determine a plurality of acceleration values based on the first and second vehicle parameters and the correlations;

a jerk limiter configured to determine a plurality of jerk values based on the first and second vehicle parameters and the correlations; and

a selector configured to determine an achievable value for each of the plurality of applicable acceleration values and jerk values for the vehicle.

16. The system of claim 16, wherein at least one of the achievable values comprises a minimum of the plurality of acceleration values.

15. The system of claim 16, further comprising a processor configured to determine a trailer presence from at least one of the first and second vehicle parameters, and to update the first vehicle parameter if the trailer is present.

17. The system of claim 16, wherein at least one of the achievable values comprises a minimum of the plurality of jerk values.

18. The system of claim 16, wherein the correlator is further configured to determine the first and second correlations in parallel.

19. The system of claim 16, wherein at least one of the first and second vehicle parameters comprises at least one of longitudinal acceleration, lateral acceleration, total load, coefficient of friction, yaw rate, temperature, and wiper activity.

20. A vehicle comprising:

first and second sensors configured to sense respective first and second vehicle parameters indicative of one or more conditions of the vehicle;

a hitch configured to receive a trailer;

a processor configured to determine if a trailer is present based on at least one of the first and second sensors, and to update the first vehicle parameter when a trailer is present;

a correlator configured to determine a plurality of correlations based on at least one of the first and second vehicle parameters;

an acceleration limiter configured to determine a plurality of acceleration values based on the first and second vehicle parameters and the correlations;

a jerk limiter configured to determine a plurality of jerk values based on the first and second vehicle parameters and the correlations;

a selector configured to determine an achievable value for each of the plurality of applicable acceleration values and jerk values for the vehicle; and

a brake system configured to be activated to decelerate the vehicle based on the achievable values.

23. The vehicle of claim 23, wherein the correlator is further configured to determine the first and second correlations in parallel.

21. The vehicle of claim 23, wherein at least one of the achievable values comprises a minimum of the plurality of acceleration values.

22. The vehicle of claim 23, wherein at least one of the achievable values comprises a minimum of the plurality of jerk values.

24. The vehicle of claim 23, wherein at least one of the first and second vehicle parameters comprises at least one of longitudinal acceleration, lateral acceleration, total load, coefficient of friction, yaw rate, temperature, and wiper activity.