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Vehicle chassis control with coordinated brake and steering control on split coefficient surface

  • US 6,681,167 B2
  • Filed: 06/04/2002
  • Issued: 01/20/2004
  • Est. Priority Date: 12/15/1999
  • Status: Expired due to Term
First Claim
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1. A control for a vehicle chassis having a plurality of wheels comprising at least a first wheel on a one side of the vehicle and second wheel on the opposite side of the vehicle, braking apparatus using at least one predetermined braking parameter for each of the plurality of wheels and steering apparatus for one or more of the plurality of wheels, the control comprising:

  • means for storing first and second calibrated values of the predetermined braking parameter;

    means for detecting a split coefficient condition between the first and second wheels;

    means for determining if a split coefficient steering correction is available; and

    means responsive to a detection of the split coefficient condition between the first and second wheels and a braking command signal for one of the first and second wheels having the higher coefficient of friction;

    (a) if the split coefficient steering correction parameter may be used, actuating the braking apparatus for the one of the first and second wheels having the higher coefficient of friction with the first calibrated value of the predetermined braking parameter and simultaneously actuating the steering apparatus with the split coefficient steering correction to compensate for yaw induced by braking with the split coefficient condition;

    or alternatively (b) if the split coefficient steering correction parameter may not be used, actuating the braking apparatus for the one of the first and second wheels having the higher coefficient of friction with the second calibrated value of the predetermined braking parameter without simultaneously actuating the steering apparatus with the split coefficient steering correction.

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