Vehicle stability enhancement control

• US 6,856,885 B2
• Filed: 04/01/2003
• Issued: 02/15/2005
• Est. Priority Date: 04/01/2003
• Status: Expired due to Fees

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: General Motors Corporation (Motors Liquidation Co. GUC Trust)
• Inventors: Lin, William C., Chen, Shih-Ken
• Primary Examiner(s): Black, Thomas G.
• Assistant Examiner(s): To, Tuan C
• Application Number:
  US10/404,371
• Publication Number:
  US 20040199321A1
• Time in Patent Office: 686 Days
• Field of Search: 701/70, 701/84, 701/301, 701/36, 701/82, 701/74, 701/41, 340/903, 340/436, 340/438, 303/140, 303/141, 303/166, 303/167, 303/146, 280/5.51, 180/197, 180/204, 180/446, 180/443, 477/34, 477/115, 477/107
• US Class Current: 701/70
• CPC Class Codes: B60T 2230/02 Side slip angle, attitude angle, floating angle, drift angle
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence
• CPC Class Codes: B60T 8/17551 determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters

Abstract

A side-slip velocity estimation module for a vehicle stability enhancement control system includes a side-slip acceleration estimation module that determines an estimated side-slip acceleration of a vehicle. A limited-frequency integrator integrates the estimated side-slip acceleration to determine an estimated side-slip velocity of the vehicle. A reset logic module clears an output of the limited-frequency integrator when a first condition occurs. The first condition is one of a straight-driving condition, a speed condition, and a sensor bias condition. The estimated side-slip velocity is compared to a desired side-slip velocity to produce a side-slip control signal. The side-slip control signal is combined with a yaw rate control signal to produce an actuator control signal. The actuator control signal is received by one of at least one brake actuator and a rear-wheel steering actuator to create a yaw moment to correct a dynamic behavior of the vehicle.

Claims

1. A side-slip velocity estimation module for a vehicle stability enhancement control system, comprising:

a side-slip acceleration estimation module that determines an estimated side-slip acceleration of a vehicle;

a limited-frequency integrator that integrates said estimated side-slip acceleration to determine an estimated side-slip velocity of said vehicle; and

a reset logic module that clears an output of said limited-frequency integrator when a first condition occurs.

2. The side-slip velocity estimation module of claim 1 wherein said estimated side-slip acceleration is determined based on a yaw rate, a lateral acceleration, and a speed of said vehicle.

3. The side-slip velocity estimation module of claim 1 wherein said first condition is a straight-driving condition that is determined based on a yaw rate, a lateral acceleration, and an angle of a steering wheel of said vehicle.

4. The side-slip velocity estimation module of claim 1 wherein said first condition is a speed condition that is based on a speed of said vehicle.

5. The side-slip velocity estimation module of claim 1 wherein said first condition is a sensor bias condition that is based on said estimated side-slip acceleration.

6. The side-slip velocity estimation module of claim 1 wherein said limited-frequency integrator includes a high-pass filter.

7. The side-slip velocity estimation module of claim 1 wherein said limited-frequency integrator includes a feedback loop.

8. The side-slip velocity estimation module of claim 1 wherein said estimated side-slip velocity is compared to a desired side-slip velocity to produce a side-slip control signal.

9. The side-slip velocity estimation module of claim 8 wherein said side-slip control signal is combined with a yaw rate control signal to produce an actuator control signal.

10. The side-slip velocity estimation module of claim 9 wherein said actuator control signal is received by at least one brake actuator that applies a brake pressure difference across at least one axle of said vehicle to create a yaw moment to correct a dynamic behavior of said vehicle.

11. A side-slip velocity estimation module for a vehicle stability enhancement control system, comprising:

a side-slip acceleration estimation module that determines an estimated side-slip acceleration of a vehicle; and

a limited-frequency integrator that integrates said estimated side-slip acceleration to determine an estimated side-slip velocity of said vehicle,

wherein said estimated side-slip velocity is compared to a desired side-slip velocity to produce a side-slip control signal, said side-slip control signal is combined with a yaw rate control signal to produce an actuator control signal, and said actuator control signal is received by a rear-wheel steering actuator that turns a set of rear wheels of said vehicle to create a yaw moment to correct a dynamic behavior of said vehicle.

12. A method of side-slip velocity estimation for a vehicle stability enhancement control system, comprising:

determining an estimated side-slip acceleration of a vehicle;

integrating said estimated side-slip acceleration to determine an estimated side-slip velocity of said vehicle, wherein said estimated side-slip acceleration is integrated with a limited-frequency integrator; and

clearing an output of said limited-frequency integrator when a first condition occurs.

13. The method of claim 12 wherein said estimated side-slip acceleration is determined based on a yaw rate, a lateral acceleration, and a speed of said vehicle.

14. The method of claim 12 wherein said first condition is a straight-driving condition that is determined based on a yaw rate, a lateral acceleration, and an angle of a steering wheel of said vehicle.

15. The method of claim 12 wherein said first condition is a speed condition that is based on a speed of said vehicle.

16. The method of claim 12 wherein said first condition is a sensor bias condition that is based on said estimated side-slip acceleration.

17. The method of claim 12 wherein said limited-frequency integrator includes a high-pass filter.

18. The method of claim 12 wherein said limited-frequency integrator includes a feedback loop.

19. The method of claim 12 further comprising:

comparing said estimated side-slip velocity to a desired side-slip velocity to produce a side-slip control signal.

20. The method of claim 19, further comprising:

combining said side-slip control signal with a yaw-rate control signal to produce an actuator control signal.

21. The method of claim 20, further comprising:

transmitting said actuator control signal to at least one brake actuator; and

applying a brake pressure difference across at least one axle of said vehicle to create a yaw moment to correct a dynamic behavior of said vehicle.

22. A method of side-slip velocity estimation for a vehicle stability enhancement control system, comprising:

determining an estimated side-slip acceleration of a vehicle;

integrating said estimated side-slip acceleration to determine an estimated side-slip velocity of said vehicle, wherein said estimated side-slip acceleration is integrated with a limited-frequency integrator;

comparing said estimated side-slip velocity to a desired side-slip velocity to produce a side-slip control signal;

combining said side-slip control signal with a yaw-rate control signal to produce an actuator control signal;

transmitting said actuator control signal to a rear-wheel steering actuator; and

turning a set of rear wheels of said vehicle to create a yaw moment to correct a dynamic behavior of said vehicle.

23. A method of side-slip velocity estimation for a vehicle stability enhancement control system, comprising:

determining an estimated side-slip acceleration of a vehicle based on a yaw rate, a lateral acceleration, and a speed of said vehicle;

integrating said estimated side-slip acceleration to determine an estimated side-slip velocity of said vehicle, wherein said estimated side-slip acceleration is integrated with a limited-frequency integrator; and

clearing an output of said limited-frequency integrator when a first condition occurs, wherein said first condition is at least one of a straight-driving condition, a speed condition, and a sensor bias condition.