CONTROL METHOD FOR VEHICLE

• US 20100152973A1
• Filed: 11/18/2009
• Published: 06/17/2010
• Est. Priority Date: 12/11/2008
• Status: Active Grant

• Current Assignee: Hyundai Mobis Co., Ltd.
• Original Assignee: Hyundai Mobis Co., Ltd.
• Inventors: Chung, Seunghwan
• Granted Patent: US 8,463,499 B2
• Time in Patent Office: Days
• US Class Current: 701/42
• CPC Class Codes: B60T 2230/08 Driving in reverse
• 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: B60W 40/10 related to vehicle motion

Abstract

Disclosed is a method of controlling a vehicle safely and stably. The method involves determining whether the vehicle is moving forward or backward without a TCU or a specific sensor for detecting whether the vehicle is moving forward or backward. The method further involves controlling at least one apparatus of the vehicle for controlling the wheels based on the determination.

Claims

1. A method of controlling a vehicle, the method comprising:

determining whether the vehicle is moving or not;

providing a first yaw value obtained using an output of a yaw sensor of the vehicle;

providing a second yaw value obtained using an output of a steering angle sensor of the vehicle;

determining whether the vehicle is moving in a forward or backward direction, wherein the vehicle is determined moving in the forward direction when both the first and second yaw values are greater than or when both the first and second yaw values are smaller than zero, wherein the vehicle is determined moving in the backward direction when one of the first and second yaw values is greater than zero and the other is smaller than zero; and

controlling at least one apparatus of the vehicle using the determination the vehicle'"'"'s movement in the forward or backward direction.

2. The method of claim 1, wherein the second yaw value is obtained further using an output of a lateral acceleration sensor of the vehicle.

3. The method of claim 1, wherein the second yaw value is an average value of a third yaw value and a fourth yaw value, wherein the third yaw value is obtained using the output value of the steering angle sensor of the vehicle, wherein the fourth yaw value is obtained using an output value of a lateral acceleration sensor of the vehicle.

4. The method of claim 3, wherein the third yaw value {dot over (ψ

)}₃ is obtained using from the following formula,

${\stackrel{.}{\mathrm{\psi <br><br>}}}_3=\frac{{\mathrm{\delta <br><br>}}_{\mathrm{swa}}}{i_L<br><br>l}\times <br><br>\frac{V_{\mathrm{ref}}}{\left(1+{\left(\frac{V_{\mathrm{ref}}}{V_{\mathrm{ch}}}\right)}^2\right)}$

wherein δ

_swa is a steering wheel angle;

wherein i_L is a steering ratio;

wherein l is a wheel base;

wherein V_ref a vehicle reference velocity;

wherein V_ch is a characteristic vehicle velocity.

5. The method of claim 4, wherein the fourth yaw value {dot over (ψ

)}₄ is obtained from the following formula,

${\stackrel{.}{\mathrm{\psi <br><br>}}}_4=\frac{a_{\mathrm{lat}}}{V_{\mathrm{ref}}}$

wherein a_lat is a lateral acceleration.

6. The method of claim 1, further comprising:

confirming the determination of the vehicle'"'"'s movement in the forward or backward direction, wherein the determination is confirmed when the absolute value of a difference between the first yaw value and the second yaw value exceeds a predetermined value.

7. The method of claim 1, wherein it is determined that the vehicle is not moving when velocities of all wheels of the vehicle are smaller than a predetermined value and further when the absolute value of the first yaw value is smaller than a predetermined turning value.

8. The method of claim 1, wherein the first yaw value is a value modified by an off-set value from the output of the yaw sensor.

9. The method of claim 1, wherein the vehicle does not comprise a sensor for detecting whether the vehicle is moving in the forward or backward direction.