Brake system control method employing yaw rate and ship angle control
First Claim
1. A brake system control for use in a vehicle with a body, comprising the steps of:
- determining a first error between an actual yaw rate of the vehicle and a desired yaw rate of the vehicle;
determining a second error between an estimated slip angle of the vehicle and a desired slip angle of the vehicle;
determining a yaw rate command responsive to the first error;
determining a slip angle command responsive to the second error;
summing the yaw rate command and the slip angle command to determine a summed command including the yaw rate and slip angle commands; and
applying the summed command to at least one vehicle brake actuator to impart a yaw moment on the vehicle body, wherein the yaw rate command reduces the first error and the slip angle command reduces the second error.
13 Assignments
0 Petitions
Accused Products
Abstract
A brake system control for use in a vehicle with wheels, wheel brakes and a body, comprising the steps of: measuring a plurality of vehicle parameters; responsive to the measured parameters, determining at least a vehicle yaw rate, a vehicle slip angle, a desired yaw rate and a desired slip angle; responsive to the measured parameters, estimating a coefficient of adhesion between the vehicle wheels and a road surface; implementing a control responsive to the vehicle yaw rate and the desired yaw rate with a first authority and responsive to the vehicle slip angle and the desired slip angle with a second authority, wherein the first authority increases as the estimated coefficient of adhesion increases and decreases as the estimated coefficient of adhesion decreases; and controlling the wheel brakes responsive to the control to reduce a first difference between the vehicle yaw rate and the desired yaw rate and to reduce a second difference between the vehicle slip angle and the desired slip angle.
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Citations
16 Claims
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1. A brake system control for use in a vehicle with a body, comprising the steps of:
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determining a first error between an actual yaw rate of the vehicle and a desired yaw rate of the vehicle; determining a second error between an estimated slip angle of the vehicle and a desired slip angle of the vehicle; determining a yaw rate command responsive to the first error; determining a slip angle command responsive to the second error; summing the yaw rate command and the slip angle command to determine a summed command including the yaw rate and slip angle commands; and applying the summed command to at least one vehicle brake actuator to impart a yaw moment on the vehicle body, wherein the yaw rate command reduces the first error and the slip angle command reduces the second error. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A brake system control for use in a vehicle with wheels, wheel brakes and a body, comprising the steps of:
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measuring a plurality of vehicle parameters; responsive to the measured parameters, determining at least a vehicle yaw rate, a vehicle slip angle, a desired yaw rate and a desired slip angle; responsive to the measured parameters, estimating a coefficient of adhesion between the vehicle wheels and a road surface; implementing a control responsive to the vehicle yaw rate and the desired yaw rate with a first authority and responsive to the vehicle slip angle and the desired slip angle with a second authority, wherein the first authority increases as the estimated coefficient of adhesion increases and decreases as the estimated coefficient of adhesion decreases; and controlling the wheel brakes responsive to the control to minimize a first difference between the vehicle yaw rate and the desired yaw rate and to minimize a second difference between the vehicle slip angle and the desired slip angle. - View Dependent Claims (12, 13)
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14. A brake system control apparatus for use in a vehicle with wheels, wheel brakes and a body, comprising:
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a plurality of sensors for measuring a plurality of vehicle parameters; a microprocessor controller comprising; a surface coefficient of adhesion estimator, responsive to the measured parameters, providing estimated coefficient of adhesion between the vehicle wheels and a road surface; a vehicle reference model, responsive to measured steering angle and speed for providing signals indicative of desired yaw rate and desired slip angle; an observer, responsive to the measured parameters, for providing estimates of vehicle lateral velocity and vehicle slip angle; a gain generator for generating first and second gain sets, wherein the first gain set is responsive to the estimated surface coefficient of adhesion; a control command generator responsive to the observer, the vehicle reference model, the measured parameters and the first and second gain sets providing a control output having a first function responsive to the first gain set, the vehicle yaw rate and the desired yaw rate and a second function responsive to the second gain set, the vehicle slip angle and the desired slip angle; and controlling the wheel brakes responsive to the control to minimize a first difference between the vehicle yaw rate and the desired yaw rate and to minimize a second difference between the vehicle slip angle and the desired slip angle. - View Dependent Claims (15, 16)
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Specification