Vehicle stability control
First Claim
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1. A method of vehicle stability control, comprising;
- determining a rear axle cornering stiffness coefficient in a linear handling range;
determining a first understeer coefficient in a linear handling range;
determining a desired lateral acceleration based on the first understeer coefficient;
determining a second understeer coefficient based on a limited magnitude of the desired lateral acceleration;
determining a desired yaw rate based on the second understeer coefficient; and
determining a desired lateral velocity based on the desired yaw rate and the rear axle cornering stiffness coefficient.
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Abstract
A method and computer usable medium, including a program, for vehicle stability control. A rear axle cornering stiffness coefficient in a linear handling range is determined. A first understeer coefficient in a linear handling range is determined. A desired lateral acceleration is determined based on the first understeer coefficient. A second understeer coefficient is determined based on a limited magnitude of the desired lateral acceleration. A desired yaw rate is determined based on the second understeer coefficient. A desired lateral velocity is determined based on the desired yaw rate and the rear axle cornering stiffness coefficient.
29 Citations
20 Claims
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1. A method of vehicle stability control, comprising;
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determining a rear axle cornering stiffness coefficient in a linear handling range;
determining a first understeer coefficient in a linear handling range;
determining a desired lateral acceleration based on the first understeer coefficient;
determining a second understeer coefficient based on a limited magnitude of the desired lateral acceleration;
determining a desired yaw rate based on the second understeer coefficient; and
determining a desired lateral velocity based on the desired yaw rate and the rear axle cornering stiffness coefficient. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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4. The method of claim 3 wherein the polynomial coefficient, B2, is determined in accordance with the equation:
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5. The method of claim 1 wherein the desired yaw rate is determined in accordance with the equation:
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where vx is a vehicle speed, δ
is a front wheel steering angle, L is a vehicle wheelbase, Ku is the second understeer coefficient, aydl— lim is the desired lateral acceleration limited to maximum lateral acceleration, aymax is a maximum lateral acceleration of the vehicle on a dry surface, and Δ
ay is lateral acceleration value.
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6. The method of claim 5 wherein the lateral acceleration value, Δ
- ay, is an incremental value of about 1 m/s2.
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7. The method of claim 1 wherein the desired lateral velocity is determined in accordance with the equation:
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8. The method of claim 7 wherein the calculated rear axle cornering stiffness, Cr, is determined in accordance with the equation:
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9. The method of claim 1 further comprising determining a front axle cornering stiffness coefficient in a linear handling range.
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10. The method of claim 1 further comprising transmitting at least one of the determined desired yaw rate, desired lateral velocity, and desired lateral acceleration to a vehicle control system.
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11. A computer usable medium including a program for vehicle stability control, comprising;
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computer readable program code for determining a rear axle cornering stiffness coefficient in a linear handling range;
computer readable program code for determining a first understeer coefficient in a linear handling range;
computer readable program code for determining a desired lateral acceleration based on the first understeer coefficient;
computer readable program code for determining a second understeer coefficient based on a limited magnitude of the desired lateral acceleration;
computer readable program code for determining a desired yaw rate based on the second understeer coefficient; and
computer readable program code for determining a desired lateral velocity based on the desired yaw rate and the rear axle cornering stiffness coefficient. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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14. The computer usable medium of claim 13 wherein the polynomial coefficient, B2, is determined in accordance with the equation:
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15. The computer usable medium of claim 11 wherein the desired yaw rate is determined in accordance with the equation:
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where vx is a vehicle speed, δ
is a front wheel steering angle, L is a vehicle wheelbase, Ku is the second understeer coefficient, aydl— lim is the desired lateral acceleration limited to maximum lateral acceleration, aymax is a maximum lateral acceleration of the vehicle on a dry surface, and Δ
ay is lateral acceleration value.
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16. The computer usable medium of claim 15 wherein the lateral acceleration value, Δ
- ay, is an incremental value of about 1 m/s2.
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17. The computer usable medium of claim 11 wherein the desired lateral velocity is determined in accordance with the equation:
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18. The computer usable medium of claim 17 wherein the calculated rear axle cornering stiffness, Cr, is determined in accordance with the equation:
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19. The computer usable medium of claim 11 further comprising determining a front axle cornering stiffness coefficient in a linear handling range.
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20. The computer usable medium of claim 11 further comprising transmitting at least one of the determined desired yaw rate, desired lateral velocity, and desired lateral acceleration to a vehicle control system.
Specification