Vehicle stability control

• US 6,704,622 B2
• Filed: 12/28/2001
• Issued: 03/09/2004
• Est. Priority Date: 12/28/2001
• Status: Expired due to Fees

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Visteon Global Technologies Incorporated (Visteon Corporation)
• Inventors: Tan, Hualin, Haile, Yohannes G., Tinskey, Michael R.
• Primary Examiner(s): Marc-Coleman, Marthe Y.
• Application Number:
  US10/040,668
• Publication Number:
  US 20030125847A1
• Time in Patent Office: 802 Days
• Field of Search: 701/1, 701/75, 701/72, 701/70, 318/430, 303/150, 303/146, 303/147, 180/197, 180/446
• US Class Current: 701/1
• CPC Class Codes: B60K 17/356 having fluid or electric motor, for driving one or more wheels disposition of motor in, or adjacent to, traction wheel B60K7/00
• CPC Class Codes: B60K 23/0808 for varying torque distribution between driven axles, e.g. by transfer clutch
• CPC Class Codes: B60K 28/16 responsive to, or preventing, skidding of wheels brake control systems for vehicle drive stability B60T8/1755; arrangements responsive to a speed condition for adjusting wheel braking force B60T8/32; control of vehicle driving stability otherwise than by controlling the propulsion unit only B60W30/02; preventing wheel slippage by reducing power in rail vehicles B61C15/00
• CPC Class Codes: B60K 6/46 Series type
• CPC Class Codes: B60K 6/52 Driving a plurality of drive axles, e.g. four-wheel drive
• CPC Class Codes: B60L 15/2036 Electric differentials, e.g. for supporting steering vehicles
• CPC Class Codes: B60L 2240/22 Yaw angle
• CPC Class Codes: B60T 8/1755 Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02
• CPC Class Codes: B60W 10/08 including control of electric propulsion units, e.g. motors or generators
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 2050/0031 Mathematical model of the vehicle
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2720/14 Yaw
• CPC Class Codes: B60W 30/02 Control of vehicle driving stability
• CPC Class Codes: Y02T 10/40 Engine management systems
• CPC Class Codes: Y02T 10/62 Hybrid vehicles
• CPC Class Codes: Y02T 10/64 Electric machine technologies in electromobility
• CPC Class Codes: Y02T 10/72 Electric energy management in electromobility
• CPC Class Codes: Y10S 903/916 with plurality of drive axles
• CPC Class Codes: Y10S 903/947 Characterized by control of braking, e.g. blending of regeneration, friction braking

Abstract

Stability is an important factor in vehicle safety. Yaw rate error can be used to improve stability. Yaw rate is measured through a yaw rate sensor. Desired yaw rate can be determined from vehicle conditions and driver input. The yaw rate error is calculated by subtracting the measured yaw rate from the desired yaw rate. Based on this calculation, yaw torque target signals can be calculated to apply torque to the wheels through the application of one or more electric drivelines. The application of torque can provide side-to-side and front-to-rear torque biasing to improve stability. Furthermore, the application of torque at specific times can improve braking and launch capabilities.

Claims

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

at least one sensor means for detecting a parameter of yaw rate and translating said parameter into a yaw rate signal;

a controller means in electrical communication with said at least one sensor means for determining a desired yaw rate, comparing said yaw rate signal with said desired yaw rate, and creating at least one yaw torque target signal for achieving said desired yaw rate correcting stability; and

at least one electric driveline in electrical communication with said controller means for receiving said at least one yaw torque target signal independently and making a corrective action with the at least one electric driveline based on said at least one yaw torque target signal.

2. The stability control system of claim 1 wherein the at least one driveline further comprises at least one electrical motor receiving an electric supply from at least one electric storage unit.

3. The stability control system of claim 1, wherein said controller means uses a two degree of freedom model for describing lateral and yaw motion.

4. The stability control system of claim 1, wherein the at least one driveline in electrical communication with said controller means further comprises a first electric driveline operatively connected to a first rear wheel and a second electric driveline operatively connected to a second rear wheel.

5. The stability control system of claim 1, wherein the at least one driveline in electric communication with said controller means further comprises a first electric driveline operatively connected to a first front wheel and a second electric driveline operatively connected to a second front wheel.

6. The stability control system of claim 1, wherein the at least one driveline further comprises a driveline for each wheel of the vehicle.

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

at least one sensor means for detecting a parameter of yaw rate and translating said parameter said parameter into a yaw rate signal;

a controller means in electrical communication with said at least one sensor means for determining a desired yaw rate, comparing said yaw rate signal with said desired yaw rate, and creating at least one yaw torque target signal for achieving said desired yaw rate and correcting stability, wherein said controller means creates at least one torque target signal by determining a tractive or braking torque magnitude and a tractive/braking torque direction for said at least one driveline and determining an appropriate electric motor voltage to be applied to said at least one electric motor;

at least one electric driveline in electrical communication with said controller means for receiving said at least one yaw torque target signal and making a corrective action based on said at least one yaw torque target signal.

8. The stability control system of claim 7, wherein said corrective action is an application of said appropriate electric voltage to said at least one electrical motor.

9. The stability control system of claim 7, wherein the at least one driveline further comprises at least one electrical motor receiving an electric supply for at least one electrical storage unit.

10. The stability control system of claim 7, wherein said controller means uses a two-degree of freedom model for describing lateral and yaw motion.

11. The stability control system of claim 7, wherein the at least one driveline in electrical communication with said controller means further comprises a first electric driveline operatively connected to a first rear wheel and a second electric driveline operatively connected to a second rear wheel.

12. The stability control of claim 7, wherein the at least one driveline in electric communication with said controller means further comprises a first electric driveline operatively connected to a first front wheel and a second electric driveline operatively connected to a second front wheel.

13. The stability control system of claim 7, wherein the at least one driveline further comprises a driveline for each wheel of the vehicle.

14. A method for controlling the stability of a vehicle having at least one independently controlled electric driveline comprising:

measuring a yaw rate if said vehicle and converting said yaw rate into a yaw signal;

send said yaw signal to a controller;

determining a desired yaw rate;

comparing said yaw rate to said desired yaw rate by said controller;

calculating at least one yaw torque target signal by said controller from said yaw rate and said desired yaw rate;

sending said at least one yaw torque target signal from said controller to said at least one independently controlled electric driveline independently; and

applying at least one torque to at least one wheel based on said at least one yaw torque target signal.

15. The method of claim 14, wherein said desired yaw rate is calculated by said controller using a two degree of freedom model for describing later and yaw motion.

16. The method of claim 14, further comprising:

measuring a response of the yaw to an application of said at least one torque; and

adjusting said at least one torque to avoid understeering, oversteering, or lateral acceleration.

17. A method for controlling the stability of a vehicle having at least one independently controlled electric driveline comprising:

measuring a yaw rate of said vehicle and converting said yaw rate into a yaw signal;

sending said yaw signal to a controller;

determining a desired yaw rate;

comparing said yaw signal to said desired yaw rate by said controller;

calculating at least one yaw torque target signal by said controller from said yaw rate signal and said desired yaw rate, wherein said at least one torque target signal further comprises a tractive or braking torque magnitude and a tractive braking or torque direction;

sending said at least one yaw torque target signal from said controller to said at least one independently controlled electric driveline; and

applying at least one torque to at least one wheel based on said at least one yaw torque target signal.

18. The method of claim 17, wherein said desired yaw rate is calculated by said controller using a two-degree of freedom model for describing lateral and yaw motion.

19. The method of claim 17, further comprising:

measuring a response of the yaw to an application of said at least one torque; and

adjusting said at least one torque to avoid understeering, oversteering, or lateral acceleration.