INTEGRATED CONTROL SYSTEM FOR STABILITY CONTROL OF YAW, ROLL AND LATERAL MOTION OF A DRIVING VEHICLE USING AN INTEGRATED SENSING SYSTEM WITH PITCH INFORMATION

• US 20110130926A1
• Filed: 02/07/2011
• Published: 06/02/2011
• Est. Priority Date: 08/30/2006
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Brown, Todd, Lu, Jianbo
• Granted Patent: US 8,306,697 B2
• Time in Patent Office: Days
• US Class Current: 701/42
• CPC Class Codes: B29C 48/03 characterised by the shape of the extruded material at extrusion
• CPC Class Codes: B29K 2027/18 PTFE, i.e. polytetrafluorethene , e.g. ePTFE, i.e. expanded polytetrafluorethene
• CPC Class Codes: B29K 2105/16 Fillers
• CPC Class Codes: B29K 2105/162 Nanoparticles
• CPC Class Codes: B29L 2023/001 Tubular films, sleeves
• CPC Class Codes: B60T 2230/02 Side slip angle, attitude angle, floating angle, drift angle
• CPC Class Codes: B60T 2230/03 Overturn, rollover
• CPC Class Codes: B60T 2250/04 Vehicle reference speed; Vehicle body speed
• CPC Class Codes: B60T 2260/09 Complex systems; Conjoint control of two or more vehicle active control systems
• CPC Class Codes: B60T 8/171 Detecting parameters used in the regulation; Measuring values used in the regulation
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence
• CPC Class Codes: B60T 8/17552 responsive to the tire sideslip angle or the vehicle body slip angle
• CPC Class Codes: B60W 40/072 Curvature of the road
• CPC Class Codes: B60W 40/076 Slope angle of the road
• CPC Class Codes: B60W 40/101 Side slip angle of tyre

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.

Claims

1. A method of controlling a vehicle comprising:

determining a yaw rate signal from a yaw rate sensor

determining a pitch rate signal from pitch rate sensor;

determining a lateral acceleration signal from a lateral acceleration sensor;

determining a vehicle signal speed from a vehicle speed sensor;

generating a control signal in response to said yaw rate signal, said pitch rate signal, said lateral acceleration signal and said vehicle speed signal; and

controlling a stability control system to provide yaw stability control using said control signal.

2. A method as recited in claim 1 further comprising determining a roll rate signal from a roll rate sensor, wherein said control signal is also generated in response to said roll rate signal and wherein controlling said stability control system also provides roll stability control using said control signal.

3. A method as recited in claim 1 further comprising determining a steering wheel angle signal from a steering wheel angle sensor and wherein said control signal is also generated in response to said steering wheel angle signal.

4. A method as recited in claim 1 further comprising determining a longitudinal acceleration signal from a longitudinal acceleration sensor and wherein said control signal is also generated in response to said longitudinal acceleration signal.

5. A method as recited in claim 1 further comprising determining a vertical acceleration signal from a vertical acceleration sensor and wherein said control signal is also generated in response to said vertical acceleration signal.

6. A method as recited in claim 1 wherein said vehicle speed sensor comprises a plurality of wheel speed sensors.

7. A method as recited in claim 1 further comprising determining a sideslip error from said pitch rate signal, said lateral acceleration signal, and a longitudinal velocity signal, and wherein controlling said stability control system further comprises using said sideslip error.

8. A method as recited in claim 1 further comprising determining a yaw rate error from said pitch rate signal, said lateral acceleration signal, and a longitudinal velocity signal and wherein controlling said stability control system further comprises using said yaw rate error.

9. A method as recited in claim 1 further comprising determining a sideslip error and a yaw rate error and wherein controlling said stability control system further comprises using said yaw rate error and said sideslip error.

10. A method of controlling a vehicle comprising:

determining a yaw rate signal from a yaw rate sensor

determining a pitch rate signal from pitch rate sensor;

determining a roll rate signal from a roll rate sensor;

determining a lateral acceleration signal from a lateral acceleration sensor;

determining a longitudinal acceleration signal from a lateral acceleration sensor;

a vehicle speed sensor generating a vehicle speed signal;

generating a control signal in response to said yaw rate signal, said pitch rate signal, said lateral acceleration signal, said vehicle speed signal, said roll rate signal and said longitudinal acceleration signal; and

controlling a stability control system using said control signal.

11. A method as recited in claim 10 further comprising determining a steering wheel angle signal from a steering wheel angle sensor and wherein said control signal is also generated in response to said steering wheel angle signal.

12. A method as recited in claim 10 further comprising determining a vertical acceleration signal from a vertical acceleration sensor and wherein said control signal is also generated in response to said vertical acceleration signal.

13. A method as recited in claim 11 further comprising determining a steering wheel angle signal from a steering wheel angle sensor and wherein said control signal is also generated in response to said steering wheel angle signal.

14. A method as recited in claim 10 wherein said vehicle speed sensor comprises a plurality of wheel speed sensors.

15. A method as recited in claim 10 further comprising determining a sideslip error from said pitch rate signal, said lateral acceleration signal, and said longitudinal velocity signal and wherein controlling said stability control system further comprises using said sideslip error.

16. A method as recited in claim 10 further comprising determining a sideslip error from said pitch rate signal, said yaw rate signal, said roll rate signal, said lateral acceleration signal, and said longitudinal velocity signal and wherein controlling said stability control system further comprises using said sideslip error.

17. A method as recited in claim 10 further comprising determining a yaw rate error from said pitch rate signal, said yaw rate signal, said roll rate signal, said lateral acceleration signal, and said longitudinal velocity signal and wherein controlling said stability control system further comprises using said yaw rate error.

18. A method as recited in claim 10 further comprising determining a sideslip error and a yaw rate error and wherein controlling said stability control system further comprises using said yaw rate error and said sideslip error.