Roll over stability control for an automotive vehicle

• US 6,263,261 B1
• Filed: 12/21/1999
• Issued: 07/17/2001
• Est. Priority Date: 12/21/1999
• Status: Expired due to Term

• Current Assignee: Ford Motor Company
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Brown, Todd Allen, Rhode, Douglas Scott
• Primary Examiner(s): Camby, Richard M.
• Application Number:
  US09/468,234
• Time in Patent Office: 574 Days
• Field of Search: 701/1, 701/72, 701/78, 701/83, 701/38, 180/197, 303/146, 303/189, 303/166
• US Class Current: 701/1
• CPC Class Codes: B60G 2800/0124 Roll-over conditions
• CPC Class Codes: B60G 2800/215 by applying a braking action on each wheel individually
• CPC Class Codes: B60G 2800/922 EBV - Electronic brake force distribution
• CPC Class Codes: B60T 2230/03 Overturn, rollover
• CPC Class Codes: B60T 7/12 for automatic initiation; for initiation not subject to will of driver or passenger limiting speed of vehicles other than rail vehicles B60K31/00
• CPC Class Codes: B60T 8/17554 specially adapted for enhancing stability around the vehicles longitudinal axle, i.e. roll-over prevention road vehicle drive control systems for roll-over prevention otherwise than by controlling a particular sub-unit B60W30/04
• CPC Class Codes: B60T 8/243 for roll-over protection

Abstract

A stability control system 24 for an automotive vehicle as includes a plurality of sensors 28-37 sensing the dynamic conditions of the vehicle and a controller 26 that controls a distributed brake pressure to reduce a tire moment so the net moment of the vehicle is counter to the roll direction. The sensors include a speed sensor 30, a lateral acceleration sensor 32, a roll rate sensor 34, and a yaw rate sensor 20. The controller 26 is coupled to the speed sensor 30, the lateral acceleration sensor 32, the roll rate sensor 34, the yaw rate sensor 28. The controller 26 determines a roll angle estimate in response to lateral acceleration, roll rate, vehicle speed, and yaw rate. The controller 26 changes a tire force vector using brake pressure distribution in response to the relative roll angle estimate.

Claims

1. A stability control system for an automotive vehicle comprising:

a speed sensor;

a lateral acceleration sensor;

a roll rate sensor;

a yaw rate sensor; and

a controller coupled to said speed sensor, said lateral acceleration sensor, said roll rate sensor, said yaw rate sensor, said controller determining a roll angle estimate in response to lateral acceleration, roll rate, vehicle speed, and yaw rate, and changing a tire force vector in response to the relative roll angle estimate.

2. A stability control system as recited in claim 1 further comprising a sensor selected from the group of a steering angle sensor, a longitudinal acceleration sensor and a pitch rate sensor.

3. A stability control system as recited in claim 2 wherein said controller determines vehicle speed at a center of gravity of the vehicle in response to said steering angle and said steering sensor.

4. A stability control system as recited in claim 1 further comprising a brake controller coupled to said controller, said brake controller controlling front brake pressure and rear brake pressure in response to said controller.

5. A stability control system as recited in claim 1 wherein said controller changes a tire force vector by determining a brake pressure distribution.

6. A stability control system as recited in claim 5 wherein said controller changes a tire force vector by determining steering angle factor in combination with said brake pressure distribution.

7. A method of controlling roll stability of a vehicle comprising:

determining a yaw rate for the vehicle;

determining a roll rate for the vehicle;

determining a lateral acceleration for the vehicle;

determining vehicle speed; and

generating a tire moment in response to yaw rate, roll rate, lateral acceleration and vehicle speed so that a net moment on the vehicle is counter to a roll direction.

8. A method as recited in claim 7 wherein said step of generating comprises generating a tire moment in response to roll angle.

9. A method as recited in claim 7 wherein said step of generating comprises generating a tire moment in response to roll acceleration.

10. A method as recited in claim 7 wherein the step of generating a tire moment comprises the step of determining a brake force distribution in response to an estimate of normal loads at each corner of the vehicle.

11. A method as recited in claim 7 wherein the step of determining brake force distribution comprises controlling front brake pressure and rear brake pressure.

12. A method of controlling roll stability of a vehicle comprising the steps of:

determining a roll angle estimate in response to lateral acceleration, roll rate, vehicle speed, and yaw rate; and

determining a tire force vector in response to the relative roll angle estimate.

13. A method of controlling roll stability of a vehicle as recited in claim 12 further comprising the step of determining roll rate in response to a raw roll rate signal and a roll rate offset.

14. A method of controlling roll stability of a vehicle as recited in claim 12 further comprising the step of filtering the roll rate signal.

15. A method of controlling roll stability of a vehicle as recited in claim 12 further comprising the step of determining roll rate in response to a yaw rate signal and a yaw rate offset.

16. A method of controlling roll stability of a vehicle as recited in claim 12 further comprising the step of determining vehicle speed at the center of gravity of the vehicle as a function of a front right wheel speed, a rear right wheel speed, a front left wheel speed, a rear left wheel speed, and a steering wheel angle.

17. A method of controlling roll stability of a vehicle as recited in claim 18 further comprising the step of determining vehicle speed at the center of gravity of the vehicle as a function of body slip angle.

18. A method of controlling roll stability of a vehicle as recited in claim 12 wherein the step of determining a tire force vector includes determining brake pressure distribution comprises by determining right side braking effort and determining a right side brake force distribution by determining the amount of front right brake force and rear right brake force.

19. A method of controlling roll stability of a vehicle as recited in claim 18 wherein said step of determining a tire force vector comprises said step of determining brake pressure distribution and the step of determining a change in the steering angle.

20. A method of controlling roll stability of a vehicle as recited in claim 18 wherein the step of determining the amount of front right brake force and rear right brake force comprises the step of determining the amount of front right brake force and rear right brake force as a function of a front right normal load and a right rear normal load.

21. A method of controlling roll stability of a vehicle as recited in claim 18 wherein the step of determining a brake pressure distribution comprises the step of determining left side braking effort and determining a left side brake force distribution by determining the amount of front left brake force and rear right brake force.

22. A method of controlling roll stability of a vehicle as recited in claim 21 wherein the step of determining the amount of front left brake force and rear left brake force comprises the step of determining the amount of front left brake force and rear left brake force as a function of a front left normal load and a left rear normal load.

23. A method of controlling roll stability of a vehicle as recited in claim 18 wherein the step of determining a brake pressure distribution comprises the step of generating a lower roll error.

24. A stability control system for an automotive vehicle comprising:

a speed sensor;

a lateral acceleration sensor;

a roll rate sensor;

a yaw rate sensor; and

a controller coupled to said speed sensor, said lateral acceleration sensor, said roll rate sensor, said yaw rate sensor, said controller determining a roll angle estimate in response to lateral acceleration, roll rate, vehicle speed, and yaw rate, and changing a tire force vector in response to the relative roll angle estimate, said tire force vector by determining a brake pressure distribution.

25. A stability control system as recited in claim 24 further comprising a sensor selected from the group of a steering angle sensor, a longitudinal accelerator sensor and a pitch rate sensor.

26. A stability control system as recited in claim 25 wherein said controller determines vehicle speed at a center of gravity of the vehicle in response to said steering angle and said steering sensor.

27. A stability control system as recited in claim 24 further comprising a brake controller coupled to said controller, said brake controller controlling front brake pressure and rear brake pressure in response to said controller.

28. A stability control system as recited in claim 24 wherein said controller changes a tire force vector by determining steering angle factor in combination with said brake pressure distribution.