Dynamic side to side brake proportioning

• US 6,735,510 B2
• Filed: 10/12/2001
• Issued: 05/11/2004
• Est. Priority Date: 10/12/2001
• Status: Expired due to Term

• Current Assignee: BWI Company Limited SA (Shougang Corporation)
• Original Assignee: Delphi Technologies, Inc. (BorgWarner Incorporated)
• Inventors: Hac, Aleksander B.
• Primary Examiner(s): Black, Thomas C.
• Assistant Examiner(s): Donnelly, Arthur D.
• Application Number:
  US09/977,117
• Publication Number:
  US 20030074122A1
• Time in Patent Office: 942 Days
• Field of Search: 701/70, 701/72, 701/75, 701/78, 701/38, 303/146, 303/189, 303/140, 303/155
• US Class Current: 701/70
• CPC Class Codes: B60T 2201/16 Curve braking control, e.g. turn control within ABS control algorithm
• CPC Class Codes: B60T 2260/02 Active Steering, Steer-by-Wire
• 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: B60T 8/246 Change of direction
• CPC Class Codes: B62D 6/003 in order to control vehicle yaw movement, i.e. around a vertical axis B62D6/007 takes precedence
• CPC Class Codes: B62D 7/159 characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition

Abstract

A dynamic side-to-side braking method is disclosed. First, when the vehicle is in a combined braking and cornering maneuver, a desired braking force among tires of a vehicle is determined. Second, a brake force distribution of the desired braking force among the tires is determined. The brake force distribution is approximately proportional to a normal force distribution among the tires during the combined braking and cornering maneuver by the vehicle. When the vehicle excludes an active steering system, front or rear, the brake force distribution is determined as a function of a feedback correction to counterbalance a portion of a yaw moment experienced by the vehicle during the combined braking and cornering maneuver. When the vehicle includes an active steering system, front or rear, a steering correction is determined to counterbalance a portion of the yaw moment experienced by the vehicle during the combined braking and cornering maneuver.

Claims

1. A method of dynamically controlling an operation of a vehicle during a combined braking and cornering maneuver by the vehicle, said method comprising:

determining a desired brake force for a plurality of tires of the vehicle; and

determining a brake force distribution of the desired brake force among the plurality of tires, the brake force distribution being approximately proportional to a normal force distribution among the plurality of tires during the combined braking and cornering maneuver.

2. The method of claim 1, further comprising:

operating a braking system of the vehicle in accordance with a determination of the brake force distribution.

3. The method of claim 2, further comprising:

determining a steering correction to counterbalance at least a portion of a yaw moment experienced by the vehicle during the combined braking and cornering maneuver.

4. The method of claim 3, further comprising:

operating a steering system of the vehicle as a function of the steering correction.

5. The method of claim 1, further comprising:

determining a braking correction as a function of the desired brake force to counterbalance at least a portion of a yaw moment experienced by the vehicle during the combined braking and cornering maneuver,

wherein the brake force distribution is determined as a function of the braking correction.

6. The method of claim 5, further comprising:

operating the braking system in accordance with a determination of the brake force distribution.

7. A vehicle, comprising:

a plurality of tires; and

a brake controller,

wherein said brake controller is operable to determine a desired brake force for said plurality of tires during a combined braking and cornering maneuver by said vehicle, and

wherein said brake controller is further operable to determine a brake force distribution of the desired brake force among said plurality of tires, the brake force distribution being approximately proportional to a normal force distribution among said plurality of tires during the combined braking and cornering maneuver.

8. The vehicle of claim 7, further comprising:

braking system operable to apply a braking force to each tire of said plurality of tires in accordance with a determination of the brake force distribution by said brake controller.

9. The vehicle of claim 8, further comprising:

a steering controller operable to determine a steering correction to one or more tires of said plurality of tires to counterbalance at least a portion of a yaw moment experienced by the vehicle during the combined braking and cornering maneuver.

10. The vehicle of claim 9, further comprising:

a steering system operable to apply the steering correction to one or more tires of said plurality of tires.

11. The vehicle of claim 8,

wherein said brake controller is further operable to determine a braking correction as a function of the desired brake force to counterbalance at least a portion of a yaw moment experienced by the vehicle during the combined braking and cornering maneuver, and

wherein said brake controller is further operable to determine the brake force distribution as a function of the braking correction.

12. The vehicle of claim 11,

wherein said braking system is operated in accordance with a determination of the brake force distribution during the combined cornering and braking maneuver.

13. A vehicle, comprising:

a plurality of tires; and

a brake controller including

means for determining a desired brake force for said plurality of tires during a combined braking and cornering maneuver by said vehicle, and

means for determining a brake force distribution of the desired brake force among said plurality of tires, the brake force distribution being approximately proportional to a normal force distribution among said plurality of tires during the combined braking and cornering maneuver.

14. The vehicle of claim 13, further comprising:

a braking system operable to apply a braking force to each tire of said plurality of tires in accordance with a determination of the brake force distribution by said brake controller.

15. The vehicle of claim 14, further comprising:

a steering controller including means for determining a steering correction to one or more tires of said plurality of tires to counterbalance at least a portion of a yaw moment experienced by the vehicle during the combined braking and cornering maneuver.

16. The vehicle of claim 15, further comprising:

a steering system operable to apply the steering correction to one or more tires of said plurality of tires.

17. The vehicle of claim 14,

wherein said brake controller further includes means for determining a braking correction as a function of the desired brake force to counterbalance at least a portion of a yaw moment experienced by the vehicle during the combined braking and cornering maneuver.

18. The vehicle of claim 17,

wherein said braking system is operated in accordance with a determination of the brake force distribution during the combined cornering and braking maneuver.

19. The vehicle of claim 14, further comprising:

a steering controller including

means for determining a yaw moment generated by a differential braking of said braking system;

means for determining a feedforward steering correction as a function of the yaw moment;

means for filtering the feedforward steering correction;

means for determining a feedback steering correction as a function of the feedforward steering correction upon a filtering of the feedforward steering correction; and

means for determining a steering correction as a function of the feedforward steering correction and the feedback steering correction.

20. The vehicle of claim 19, further comprising:

a steering system operable to apply the steering correction to one or more tires of said plurality of tires.