Method and apparatus for vehicle stability enhancement system
First Claim
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1. A vehicle stability enhancement system for a vehicle having a vehicle subsystem, comprising:
- a sensor for sensing a vehicle parameter;
a vehicle control system for adjusting the vehicle subsystem;
a memory comprising a first register including a bank angle compensation control command, a second register including a yaw rate control command, and a third register including a side-slip rate control command; and
a controller responsive to said sensor and said memory for controlling said vehicle control system;
wherein said memory further comprises a fourth register including a feedforward control command, said feedforward control command being determined by a rear wheel steering angle.
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Abstract
A vehicle stability enhancement system for a vehicle having a vehicle subsystem includes a sensor for sensing a vehicle parameter, a vehicle control system for adjusting the vehicle subsystem, a memory having a register that includes a bank angle compensation control command, and a controller responsive to the sensor and the memory for controlling the vehicle control system.
34 Citations
16 Claims
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1. A vehicle stability enhancement system for a vehicle having a vehicle subsystem, comprising:
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a sensor for sensing a vehicle parameter;
a vehicle control system for adjusting the vehicle subsystem;
a memory comprising a first register including a bank angle compensation control command, a second register including a yaw rate control command, and a third register including a side-slip rate control command; and
a controller responsive to said sensor and said memory for controlling said vehicle control system;
wherein said memory further comprises a fourth register including a feedforward control command, said feedforward control command being determined by a rear wheel steering angle. - View Dependent Claims (2, 3, 4)
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5. A vehicle stability enhancement system for a vehicle having a vehicle subsystem, comprising:
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a sensor for sensing a vehicle parameter;
a vehicle control system for adjusting the vehicle subsystem;
a memory comprising a register including a bank angle compensation control command; and
a controller responsive to said sensor and said memory for controlling said vehicle control system;
wherein said memory further comprises a register having a side-slip rate control gain responsive to a road surface having a bank angle, wherein said side-slip rate control gain is a function of a second side-slip rate control gain responsive to a level road surface. - View Dependent Claims (6, 7, 8)
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7. The vehicle stability enhancement system of claim 5, wherein said sensor comprises a velocity sensor, a yaw rate sensor, an acceleration sensor, and a front wheel steering angle sensor.
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8. The vehicle stability enhancement system of claim 5, wherein said bank angle compensation control command is responsive to the output signal of a low pass filter that removes high frequency content of a side-slip rate of the vehicle.
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9. A method for controlling a vehicle stability enhancement system in a vehicle having a vehicle subsystem, comprising:
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sensing a vehicle parameter;
determining a control gain factor in response to the vehicle parameter;
determining the state of a control flag in response to the vehicle parameter;
calculating a control command in response to the control gain factor and the control flag, wherein the control command comprises a bank angle compensation control command, a yaw rate control command, and a side-slip rate control command; and
actuating a vehicle control system in response to the control command for adjusting the vehicle subsystem;
wherein said calculating a control command further comprises;
calculating a control command comprising a feedforward control command, the feedforward control command being determined by a rear wheel steering angle. - View Dependent Claims (10, 11, 12)
actuating a braking mechanism control system.
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11. The method of controlling set forth in claim 10, wherein said actuating a vehicle control system further comprises:
actuating a rear wheel steering mechanism control system.
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12. The method of controlling set forth in claim 9, wherein said actuating a vehicle control system further comprises:
actuating a rear wheel steering mechanism control system.
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13. A method for controlling a vehicle stability enhancement system in a vehicle having a vehicle subsystem, comprising:
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sensing a vehicle parameter;
determining a control gain factor in response to the vehicle parameter;
determining the state of a control flag in response to the vehicle parameter;
calculating a control command in response to the control gain factor and the control flag, wherein the control command comprises a bank angle compensation control command; and
actuating a vehicle control system in response to the control command for adjusting the vehicle subsystem;
wherein said determining a control gain factor further comprises;
determining a first side-slip rate control gain factor for a level surface;
calculating a bank angle compensation control gain factor; and
calculating a second side-slip rate control gain factor for a surface having a bank angle, wherein said second side-slip rate control gain factor is responsive to the first side-slip rate control gain factor and the bank angle compensation control gain factor. - View Dependent Claims (14, 15, 16)
calculating a bank angle compensation control command wherein the bank angle compensation control command is responsive to the output signal of a low pass filter applied to the signal of the following equation;
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15. The method of controlling set forth in claim 13, wherein said sensing a vehicle parameter farther comprises:
sensing a vehicle velocity, a vehicle yaw rate, a vehicle acceleration, and a vehicle front wheel steering angle.
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16. The method of controlling set forth in claim 13, wherein said calculating a control command further comprises:
calculating a bank angle compensation control command wherein the bank angle compensation control command is responsive to the output signal of a low pass filter that removes high frequency content of a side-slip rate of the vehicle.
Specification