Vehicle yaw rate control with bank angle compensation
First Claim
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.
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Accused Products
Abstract
An improved low cost vehicle yaw rate control that is compensated for road bank angle using readily available information, such as steering angle, vehicle speed, and the speeds of the un-driven vehicle wheels. The control is founded on the recognition that, under linear operating conditions on a banked surface, the difference between the desired yaw rate and the actual or estimated yaw rate yields a yaw rate offset that will compensate for the bank angle, and the product of yaw rate and vehicle speed corresponds substantially to lateral acceleration. The yaw rate offset is used to compensate the yaw control when the steering angle, the yaw rate--vehicle speed product and yaw rate error are indicative of operation on a banked road. The compensation is deactivated when the steering angle, the yaw rate--vehicle speed product and yaw rate error are not indicative of operation on a banked road.
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Citations
7 Claims
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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:
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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 Dependent Claims (2, 3, 4, 5, 7)
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6. A yaw rate control method utilizing differential barking of the vehicle wheels to impart a desired yaw moment on the vehicle, the method comprising the steps of:
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measuring the vehicle speed and steering angle; determining a desired yaw rate for the vehicle; determining an actual yaw rate of the vehicle; determining a yaw rate 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 rate when it is determined that the vehicle is operating on a banked surface; and compensating the 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 the step of forming a yaw rate offset based on the determined yaw rate error includes the steps of; filtering the determined yaw rate error; comparing the filtered yaw rate error to a reference yaw rate error; and forming the yaw rate offset according to the lesser of the filtered yaw rate error and the reference yaw rate error.
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Specification