METHOD AND SYSTEM FOR DETERMINING A REFERENCE YAW RATE FOR A VEHICLE
First Claim
1. A method for determining a reference yaw rate (γ
-
ref) for a vehicle, comprising the steps of;
(a) determining a steering angle (δ
);
(b) determining a longitudinal velocity (Vx); and
(c) using the steering angle (δ
), the longitudinal velocity (Vx), and one or more tire dynamic(s) to determine the reference yaw rate (γ
ref) for the vehicle, wherein the reference yaw rate (γ
ref) generally corresponds to the ideal yaw rate of the vehicle if the vehicle was driven on a high-coefficient surface.
4 Assignments
0 Petitions
Accused Products
Abstract
The method and system described herein may be used to determine a reference yaw rate (γref) for a vehicle chassis control system, and may do so across a wide spectrum of vehicle operating conditions. These conditions may include, for example, when the vehicle is being driven: at low and high vehicle speeds, in forward and reverse directions, with front-, rear- and all-wheel steering systems, according to subtle and aggressive driving maneuvers, and on roads with flat or banked surfaces, to cite a few of the potential scenarios. According to an exemplary embodiment, the method and system take into account certain tire dynamics, such as the relaxation length (λ) of the tires, when estimating the reference yaw rate (γref). Once an accurate reference yaw rate (γref) is determined, the vehicle chassis control system may use this estimate to control one or more actuators that can influence the yaw rate of the vehicle. Some non-limiting examples of systems that may include such actuators are chassis systems, brake systems, steering systems, suspension systems, safety systems, stability control systems, traction control systems, torque control systems, or any other system that can affect the vehicle yaw rate. It is also possible for the method and system described herein to determine a reference lateral velocity (Vyref) for the vehicle as well.
19 Citations
23 Claims
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1. A method for determining a reference yaw rate (γ
-
ref) for a vehicle, comprising the steps of;
(a) determining a steering angle (δ
);(b) determining a longitudinal velocity (Vx); and (c) using the steering angle (δ
), the longitudinal velocity (Vx), and one or more tire dynamic(s) to determine the reference yaw rate (γ
ref) for the vehicle, wherein the reference yaw rate (γ
ref) generally corresponds to the ideal yaw rate of the vehicle if the vehicle was driven on a high-coefficient surface. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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ref) for a vehicle, comprising the steps of;
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21. A method for determining a reference yaw rate (γ
-
ref) for a vehicle, comprising the steps of;
(a) using a steering angle (δ
) and a longitudinal velocity (Vx) to determine a slip angle (α
);(b) using the slip angle (α
) and one or more tire dynamic(s) to determine a lateral force (Fy) as a function of time;(c) using the lateral force (Fy) as a function of time and the longitudinal velocity of the vehicle (Vx) to determine a yaw rate derivative {dot over (γ
)}; and(d) integrating the yaw rate derivative {dot over (γ
)} to determine the reference yaw rate (γ
ref), wherein the reference yaw rate (γ
ref) generally corresponds to the ideal yaw rate of the vehicle if the vehicle was driven on a high-coefficient surface. - View Dependent Claims (22)
-
ref) for a vehicle, comprising the steps of;
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23. A chassis control system for a vehicle, comprising:
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a steering sensor providing a steering signal that is representative of a steering angle (δ
);one or more vehicle speed sensor(s) providing a vehicle speed signal that is representative of a longitudinal velocity (Vx); a control unit receiving the steering signal from the steering sensor and the vehicle speed signal from the vehicle speed sensor(s), and providing a yaw rate control signal; and one or more actuator(s) receiving the yaw rate control signal from the control unit, and using the yaw rate control signal to influence the yaw rate of the vehicle, wherein the control unit;
i) uses the steering angle (δ
), the longitudinal velocity (Vx), and one or more tire dynamic(s) to determine a reference yaw rate (γ
ref) that generally corresponds to the ideal yaw rate of the vehicle if the vehicle was driven on a high-coefficient surface, and ii) uses the reference yaw rate (γ
ref) to generate the yaw rate control signal.
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Specification