Method and system for unified vehicle dynamics control
First Claim
1. A method for unified vehicle dynamics control comprising:
- determining vehicle dynamics data;
determining a vehicle dynamics reference model having at least one reference model parameter;
providing the at least one reference model parameter to a closed-loop sliding mode control system; and
wherein the sliding mode control system initializes and substantially maintains the state of at least one reference model parameter on a hyperplane based on the vehicle dynamics reference model and the vehicle dynamics data.
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Abstract
A system and method for unified vehicle dynamics control is described. A method for determining vehicle dynamics data, determining a vehicle dynamics reference model having at least one reference model parameter, and providing the reference model parameter to a closed-loop sliding mode control system is provided. A sliding mode control system substantially maintains the state of reference model parameters based on the vehicle dynamics reference model and the vehicle dynamics data. A method and system is directed to a computer readable medium containing a computer program comprising computer readable code for determining vehicle dynamics data, determining a vehicle dynamics reference model having at least one reference model parameter, and providing the reference model parameter to a closed-loop sliding mode control system.
13 Citations
17 Claims
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1. A method for unified vehicle dynamics control comprising:
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determining vehicle dynamics data;
determining a vehicle dynamics reference model having at least one reference model parameter;
providing the at least one reference model parameter to a closed-loop sliding mode control system; and
wherein the sliding mode control system initializes and substantially maintains the state of at least one reference model parameter on a hyperplane based on the vehicle dynamics reference model and the vehicle dynamics data. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
receiving user selection data; and
configuring the vehicle dynamics reference model based on the user selection data and the vehicle dynamics data.
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3. The method of claim 1 further comprising:
applying a weighting factor to a first reference model parameter and an at least second reference model parameter prior to providing the first reference model parameter and at least second reference model parameter to the sliding-mode control system.
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4. The method of claim 3 wherein the vehicle dynamics reference model is a state-variable matrix comprising the first reference model parameter and the at least second reference model parameter.
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5. The method of claim 1 wherein the at least one reference model parameter is selected from the group consisting of yaw rate, roll angle, side slip angle and roll rate.
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6. The method of claim 1 wherein the sliding mode control system is a software module configured on a central command controller.
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7. The method of claim 1 wherein the sliding mode control system is a decentralized control system linked through a vehicle communication bus.
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8. The method of claim 1 wherein the vehicle dynamics data is the output of a device selected from the group consisting of a speed sensor, a lateral acceleration sensor, and a steering wheel angle position sensor.
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9. A computer readable medium containing a computer program comprising:
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computer readable code for determining vehicle dynamics data;
computer readable code for determining a vehicle dynamics reference model having at least one reference model parameter;
computer readable code for providing the at least one reference model parameter to a closed-loop sliding mode control system; and
wherein the sliding mode control system initializes and substantially maintains the state of at least one reference model parameter on a hyperplane based on the vehicle dynamics reference model and the vehicle dynamics data. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
configuring the vehicle dynamics reference model based on received user selection data and the vehicle dynamics data.
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11. The computer readable medium of claim 9 further comprising:
computer readable code for applying a weighting factor to a first reference model parameter and an at least second reference model parameter prior to providing the first reference model parameter and at least second reference model parameter to the sliding-mode control system.
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12. The computer readable code of claim 11 wherein the vehicle dynamics reference model is a state-variable matrix comprising the first reference model parameter and the at least second reference model parameter.
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13. The computer readable medium of claim 9 wherein the at least one reference model parameter is selected from the group consisting of yaw rate, roll angle, side slip angle and roll rate.
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14. The computer readable medium of claim 9 wherein the sliding mode control system is a software module configured on a central command controller.
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15. The computer readable of claim 9 wherein the sliding mode control system is a decentralized control system linked through a vehicle communication bus.
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16. The computer readable medium of claim 9 wherein the vehicle dynamics data is the output of a device selected from the group consisting of a speed sensor, a lateral acceleration sensor, and a steering wheel angle position sensor.
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17. A vehicle including a system for unified vehicle dynamics control comprising:
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means for determining vehicle dynamics data;
means for determining a vehicle dynamics reference model having at least one reference model parameter;
a closed-loop sliding mode control system;
means for providing the at least one reference model parameter to the sliding mode control system; and
wherein the sliding mode control system initializes and substantially maintains the state of at least one reference model parameter on a hyperplane based on the vehicle dynamics reference model and the vehicle dynamics data.
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Specification