METHOD OF OPERATING AN ELECTRONIC STABILITY CONTROL SYSTEM
First Claim
1. A method of stabilizing a vehicle travelling at a forward speed and a lateral speed, the vehicle comprising a lateral acceleration sensor, a yaw sensor adapted to detect an actual yaw rate of the vehicle around a central axis, a steering mechanism adapted to steer the vehicle by a steered yaw rate, and an electronic stability control system, the method comprising:
- determining the forward speed of the vehicle with the electronic stability control system;
determining a yaw error rate based upon a difference between the actual yaw rate of the vehicle and the steered yaw rate;
determining the vehicle is in an unstable condition by comparing the yaw error rate to a first predetermined yaw rate;
computing a calculated lateral speed based on acceleration data from the lateral acceleration sensor, the forward speed, and the actual yaw rate in response to determining the vehicle is in the unstable condition;
calculating a correction factor based on the calculated lateral speed of the vehicle and the forward speed of the vehicle; and
adjusting operation of the electronic stability control system by the correction factor.
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Accused Products
Abstract
A method of stabilizing a vehicle is provided. The vehicle is travelling at a forward speed and a lateral speed, and comprises a lateral acceleration sensor, a yaw sensor adapted to detect an actual yaw rate of the vehicle around a central axis, a steering mechanism adapted to steer the vehicle by a steered yaw rate, and an electronic stability control system. The method comprises determining the forward speed of the vehicle with the electronic stability control system, determining a yaw error rate based upon a difference between the actual yaw rate of the vehicle and the steered yaw rate, determining the vehicle is in an unstable condition by comparing the yaw error rate to a first predetermined yaw rate, computing a calculated lateral speed based on acceleration data from the lateral acceleration sensor, the forward speed, and the actual yaw rate in response to determining the vehicle is in the unstable condition, calculating a correction factor based on the calculated lateral speed of the vehicle and the forward speed of the vehicle, and adjusting operation of the electronic stability control system by the correction factor.
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Citations
20 Claims
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1. A method of stabilizing a vehicle travelling at a forward speed and a lateral speed, the vehicle comprising a lateral acceleration sensor, a yaw sensor adapted to detect an actual yaw rate of the vehicle around a central axis, a steering mechanism adapted to steer the vehicle by a steered yaw rate, and an electronic stability control system, the method comprising:
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determining the forward speed of the vehicle with the electronic stability control system; determining a yaw error rate based upon a difference between the actual yaw rate of the vehicle and the steered yaw rate; determining the vehicle is in an unstable condition by comparing the yaw error rate to a first predetermined yaw rate; computing a calculated lateral speed based on acceleration data from the lateral acceleration sensor, the forward speed, and the actual yaw rate in response to determining the vehicle is in the unstable condition; calculating a correction factor based on the calculated lateral speed of the vehicle and the forward speed of the vehicle; and adjusting operation of the electronic stability control system by the correction factor. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method of adjusting the motion of a vehicle travelling at a forward speed and a lateral speed, the vehicle comprising a lateral acceleration sensor, a yaw sensor adapted to detect an actual yaw rate of the vehicle around a central axis, a steering mechanism adapted to steer the vehicle by a steered yaw rate, and an electronic stability control system, the method comprising:
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determining a difference between the steered yaw rate and the actual yaw rate; comparing the difference to a first predetermined yaw rate; determining the vehicle is in an unstable condition when the difference exceeds the first predetermined yaw rate; computing a calculated lateral speed based on acceleration data from the lateral acceleration sensor, the actual yaw rate, and the forward speed in response to determining the vehicle is in an unstable condition, wherein computing the calculated lateral speed comprises performing numerical integration of the acceleration data, the actual yaw rate, and the forward speed; calculating a correction factor based on the calculated lateral speed and the forward speed of the vehicle; and adjusting operation of a braking system of the vehicle with the electronic stability control system by the correction factor. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A stability control system for a vehicle comprising a wheel, the system comprising:
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a wheel sensor adapted to determine a rotation rate of the wheel; a vehicle yaw sensor adapted to determine a rotation rate of the vehicle about a central axis; a lateral acceleration sensor adapted to detect the acceleration of the vehicle in a direction lateral to the direction of forward travel of the vehicle at a first periodic rate; a steering device adapted to alter the direction of travel of the vehicle in response to adjustment of its position by an operator of the vehicle; a steering sensor adapted to detect the position of the steering device and a rate of change of position of the steering device; an electronic stability control system coupled to the vehicle yaw sensor and to the steering sensor, and adapted to; receive a first signal from the vehicle yaw sensor, receive a second signal from the steering sensor, and determine the vehicle is in an unstable condition in response to receiving the first and second signals; and calculate a lateral speed of the vehicle using the first signal, a third signal from the wheel sensor, and a fourth signal from the lateral acceleration sensor. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification