Method and system for vehicle directional control by commanding lateral acceleration
First Claim
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1. A directional control system for an automobile, the system comprising:
- a driver input device operable to receive a driver input corresponding to a desired lateral acceleration of the automobile;
a controller in communication with the driver input device and the automobile, the controller operable to generate a control signal in response to comparing the received desired lateral acceleration and an indication of actual lateral acceleration of the automobile; and
an actuator in communication with the controller, the actuator operable to effect a change in the direction of travel of the automobile in response to the control signal.
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Abstract
A directional control system for a vehicle includes a driver input device operable to receive a driver input corresponding to a desired lateral acceleration of the vehicle. The system also includes a controller in communication with the driver input device, the controller being operable to generate a control signal in response to comparing the received desired lateral acceleration and an actual lateral acceleration of the vehicle. The system further includes an actuator in communication with the controller, the actuator being operable to effect a change in the direction of travel of the vehicle in response to the control signal.
189 Citations
26 Claims
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1. A directional control system for an automobile, the system comprising:
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a driver input device operable to receive a driver input corresponding to a desired lateral acceleration of the automobile;
a controller in communication with the driver input device and the automobile, the controller operable to generate a control signal in response to comparing the received desired lateral acceleration and an indication of actual lateral acceleration of the automobile; and
an actuator in communication with the controller, the actuator operable to effect a change in the direction of travel of the automobile in response to the control signal. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
calculate the desired lateral acceleration in response to the driver input; and
determine the control signal in response to the calculated desired lateral acceleration and the actual lateral acceleration.
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9. An automated method for controlling the direction of travel of a vehicle, the method comprising:
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receiving a driver input corresponding to a desired lateral acceleration of the vehicle;
comparing, by a controller, the desired lateral acceleration to an actual lateral acceleration of the vehicle; and
effecting a change in the direction of travel of the vehicle in response to comparing the desired lateral acceleration to the actual lateral acceleration. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
calculating a first product by multiplying a proportional gain constant associated with the vehicle and the lateral acceleration error;
calculating a second product by multiplying a damping gain constant and the rate of change in the actual lateral acceleration; and
calculating a product difference by subtracting the second product from the first product; and
generating a lateral acceleration control signal in response to the calculated product difference.
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13. The method of claim 9, and further comprising:
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receiving a rate of change in the actual lateral acceleration of the vehicle;
receiving an actual angle of orientation of at least one wheel of the vehicle;
receiving a rate of change in the actual angle of orientation of the at least one wheel;
receiving a speed of the vehicle; and
wherein the driver input additionally corresponds to a desired angle of orientation of at least one wheel of the vehicle.
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14. The method of claim 13, wherein effecting a change in the direction of travel of the vehicle at speeds greater than a high threshold speed includes:
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calculating a lateral acceleration error by subtracting the actual lateral acceleration from the desired lateral acceleration;
calculating a first product by the multiplying a proportional gain constant associated with the vehicle and the lateral acceleration error;
calculating a second product by multiplying a damping gain constant and the rate of change in the actual lateral acceleration;
calculating a first product difference by subtracting the second product from the first product; and
generating a lateral acceleration control signal operable to effect a change in the direction of travel of the vehicle in response to the calculated first product difference.
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15. The method of claim 14, wherein effecting a change in the direction of travel of the vehicle at speeds less than a low threshold speed includes:
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calculating a angle of orientation error by subtracting the actual angle of orientation from the desired angle of orientation;
calculating a third product by the multiplying a proportional gain constant associated with the vehicle and the angle of orientation error;
calculating a fourth product by multiplying a damping gain constant associated with the vehicle and the rate of change in the actual angle of orientation;
calculating a second product difference by subtracting the fourth product from the third product; and
generating an angle of orientation control signal operable to effect a change in the direction of travel of the vehicle in response to the calculated second product difference.
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16. The method of claim 15, wherein effecting a change in the direction of travel of the vehicle at speeds between the low threshold speed and the high threshold speed is performed in response to a weighted average of the calculated first and second product differences and the speed of the vehicle.
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17. A method for controlling the steering of an vehicle, the method comprising:
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receiving a first signal indicative of a desired lateral acceleration of the vehicle and a second signal indicative of an actual lateral acceleration of the vehicle;
receiving a third signal indicative of the rate of change in the actual lateral acceleration of the vehicle;
comparing the first and second signals; and
changing the orientation of at least one wheel of the vehicle in response to the comparison of the first and second signals and further in response to the third signal. - View Dependent Claims (18, 19, 20)
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21. A system, the system comprising:
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a driver input device operable to generate a first signal indicative of a desired lateral acceleration of an automobile;
an accelerometer operable to generate a second signal indicative of an actual lateral acceleration of the automobile;
a tachometer operable to generate a third signal indicative of a rate of change in the actual lateral acceleration of the automobile;
a controller in communication with the driver input device, the accelerometer, and the tachometer, the controller operable to generate a control signal in response to comparing the first signal and the second signal and further in response to the third signal; and
an actuator in communication with the controller and the tachometer, the actuator operable to adjust the orientation of at least one wheel of the automobile in response to the control signal. - View Dependent Claims (22, 23, 24, 25, 26)
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Specification