×

Vehicle yaw rate control with bank angle compensation

  • US 6,112,147 A
  • Filed: 08/17/1998
  • Issued: 08/29/2000
  • Est. Priority Date: 08/17/1998
  • Status: Expired due to Fees
First Claim
Patent Images

1. A yaw rate control method utilizing differential braking of the vehicle wheels to impart a desired yaw moment on the vehicle, the method comprising the steps of:

  • measuring the vehicle speed and steering angle;

    determining a desired yaw rate for the vehicle;

    determining an axial yaw rate of the vehicle;

    determining a yaw are error based a deviation of said actual yaw rate from said desired yaw rate;

    computing the desired yaw rate moment based on the determined yaw rate error;

    monitoring a plurality of vehicle parameters, and comparing said parameters to predetermined threshold values to determine if the vehicle is operating on a banked surface;

    forming a yaw rate offset based on the determined yaw rare error when it is determined that the vehicle is operating on a banked surface; and

    compensating time determined yaw rate error with said yaw rate offset to compensate the yaw rate control for yaw rate effects due to the banked surface, wherein said vehicle parameters include a lateral acceleration related parameter based on a product of the determined actual yaw rate and the measured vehicle speed.

View all claims
  • 13 Assignments
Timeline View
Assignment View
    ×
    ×