Method and apparatus for vehicle stability enhancement system

• US 6,865,468 B2
• Filed: 11/26/2002
• Issued: 03/08/2005
• Est. Priority Date: 11/26/2002
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: General Motors Corporation (Motors Liquidation Co. GUC Trust)
• Inventors: Lynch, David P., Chin, Yuen-Kwok, Lin, William C., Chen, Shih-Ken, Deng, Weiwen, Rule, David S.
• Primary Examiner(s): Nguyen, Tan Q.
• Assistant Examiner(s): Tran, Dalena
• Application Number:
  US10/305,378
• Publication Number:
  US 20040102886A1
• Time in Patent Office: 833 Days
• Field of Search: 701/41, 701/69, 701/42, 701/70, 701/72, 701/91, 701/48, 701/36, 701/37, 180/197, 180/408, 180/233, 180/252, 180/253, 180/280, 180/282, 180/423, 180/410, 180/446
• US Class Current: 701/70
• CPC Class Codes: B60W 2050/0024 Variable gains
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B62D 6/04 responsive only to forces disturbing the intended course of the vehicle, e.g. forces acting transversely to the direction of vehicle travel
• 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 vehicle stability enhancement system for a vehicle having at least one vehicle subsystem includes at least one sensor for sensing at least one vehicle parameter, at least one vehicle control system for adjusting the at least one vehicle subsystem wherein the at least one vehicle control system includes a rear wheel steering control system, at least one memory including at least one set of gain factors, and a controller responsive to the at least one sensor and the at least one set of gain factors for controlling the at least one vehicle control system.

Claims

1. A vehicle stability enhancement system for a vehicle having at least one vehicle subsystem, comprising:

at least one sensor for sensing at least one vehicle parameter;

at least one vehicle control system for adjusting the at least one vehicle subsystem, said at least one vehicle control system comprising a rear wheel steering control system;

at least one memory comprising at least one set of gain factors; and

a controller responsive to said at least one sensor and said at least one set of gain factors for controlling said at least one vehicle control system;

wherein said rear wheel steering control system is responsive to a rear wheel steering angle command from said controller;

wherein said rear wheel steering angle command is responsive to an open-loop rear wheel steering angle control command, a yaw rate feedback command and a side-slip rate feedback command;

wherein said rear wheel steering angle command is responsive to at least one of a 2WD/4WD mode selection switch and a trailer mode selection switch, and is responsive in one way to said trailer mode selection switch being in a non-trailering mode position and in a second different way to said trailer mode selection switch being in a trailering mode position.

2. The vehicle stability enhancement system of claim 1, wherein said at least one memory further comprises:

a look up table comprising the ratio of rear wheel steering angle command to front wheel steering angle as a function of vehicle velocity.

3. The vehicle stability enhancement system of claim 1, wherein said at least one memory further comprises:

at least one of an equation and a look up table defining the ratio of rear wheel steering angle to front wheel steering angle (R/F) as a function of vehicle velocity;

wherein said R/F ratio has a first value in response to said trailer mode selection switch being in a non-trailering mode position, and a second different value in response to said trailer mode selection switch being in a trailering mode position.

4. The vehicle stability enhancement system of claim 3, wherein said first value is less than said second value at a given vehicle velocity.

5. A vehicle stability enhancement system for a vehicle having at least one vehicle subsystem, comprising:

at least one sensor for sensing at least one vehicle parameter;

at least one vehicle control system for adjusting the at least one vehicle subsystem, said at least one vehicle control system comprising a rear wheel steering control system;

at least one memory comprising at least one set of gain factors; and

a controller responsive to said at least one sensor and said at least one set of gain factors for controlling said at least one vehicle control system;

wherein said at least one memory further comprises;

a yaw rate control flag for indicating the state of the vehicle yaw rate relative to a threshold value wherein the state of said yaw rate control flag is set to a first defined value in response to an absolute value of the vehicle yaw rate error being greater than a first yaw rate threshold value; and

a side-slip rate control flag for indicating the state of the vehicle side-slip rate relative to a threshold value.

6. The vehicle stability enhancement system of claim 5, wherein the state of said side-slip rate control flag is set to a second defined value in response to an absolute value of the vehicle side-slip rate being greater than a first side-slip rate threshold value.

7. The vehicle stability enhancement system of claim 6, wherein the second defined value is one.

8. The vehicle stability enhancement system of claim 6, wherein said side-slip rate control flag is responsive to said yaw rate control flag.

9. The vehicle stability enhancement system of claim 5, wherein said side-slip rate control flag is responsive to said yaw rate control flag.

10. The vehicle stability enhancement system of claim 5, wherein the first defined value is one.

11. A method for controlling a vehicle stability enhancement system in a vehicle having at least one vehicle subsystem, comprising:

sensing at least one vehicle parameter;

determining at least one control gain factor in response to the at least one vehicle parameter;

determining at least one desired vehicle dynamic response in response to the at least one vehicle parameter;

determining the state of at least one control flag in response to the at least one vehicle parameter;

calculating at least one control command in response to the at least one control gain factor and the at least one control flag, said calculating comprising calculating a rear wheel steering angle command responsive to at least one of a 2WD/4WD mode selection switch and a trailer mode selection switch, wherein said rear wheel steering angle command is responsive in one way to said trailer mode selection switch being in a non-trailering mode position, and in a second different way to said trailer mode selection switch being in a trailering mode position; and

actuating a rear wheel steering control system in response to said at least one control command.

12. The method of controlling set forth in claim 11, wherein said determining at least one control gain factor further comprises:

determining a proportional gain factor and a derivative gain factor responsive to the at least one vehicle parameter;

wherein said determining a proportional gain factor further comprises;

accessing a look-up table for determining the proportional gain factor that is responsive to the vehicle velocity.

13. The method of controlling set forth in claim 11, wherein said calculating further comprises:

calculating a rear wheel steering angle command responsive to a trailer mode selection resulting in a first rear wheel steering angle command signal in response to said trailer mode selection being in a non-trailering mode, and a second different rear wheel steering angle command signal in response to said trailer mode selection being in a trailering mode.

14. A method for controlling a vehicle stability enhancement system in a vehicle having at least one vehicle subsystem, comprising:

sensing at least one vehicle parameter;

determining at least one control gain factor in response to the at least one vehicle parameter;

determining at least one desired vehicle dynamic response in response to the at least one vehicle parameter;

determining the state of at least one control flag in response to the at least one vehicle parameter;

calculating at least one control command in response to the at least one control gain factor and the at least one control flag; and

actuating at least one vehicle control system in response to the at least one control command for adjusting the at least one vehicle subsystem;

wherein said determining the state of at least one control flag further comprises;

determining a yaw rate control flag for indicating the state of the vehicle yaw rate relative to a threshold value; and

determining a side-slip rate control flag for indicating the state of the vehicle lateral acceleration relative to a threshold value;

wherein said determining a yaw rate control flag further comprises;

determining a yaw rate control flag to have a first defined value in response to an absolute value of the vehicle yaw rate error being greater than a first yaw rate threshold value.

15. The method of controlling set forth in claim 14, wherein said determining a side-slip rate control flag further comprises:

determining a side-slip rate control flag to have a second defined value in response to an absolute value of the vehicle side-slip rate being greater than a first side-slip rate threshold value.

16. The method of controlling set forth in claim 15, wherein the second defined value is one.

17. The method of controlling set forth in claim 15, wherein said determining a side-slip rate control flag further comprises:

determining a side-slip rate control flag responsive to the yaw rate control flag.

18. The method of controlling set forth in claim 14, wherein said determining a side-slip rate control flag further comprises:

determining a side-slip rate control flag responsive to the yaw rate control flag.

19. The method of controlling set forth in claim 14, wherein the first defined value is one.

20. A vehicle stability enhancement system for a vehicle having at least one vehicle subsystem, comprising;

a trailer mode selection switch having a non-trailering mode position and a trailering mode position;

at least one sensor for sensing at least one vehicle parameter;

at least one vehicle control system for adjusting the at least one vehicle subsystem, said at least one vehicle control system comprising a rear wheel steering control system;

at least one memory comprising at least one set of gain factors; and

a controller responsive to said trailer mode selection switch, said at least one sensor, and said at least one set of gain factors, for controlling said at least one vehicle control system;

wherein the vehicle stability enhancement system is configured to provide a first corrective yaw moment to the vehicle absent in response to said trailer mode selection switch being in the non-trailering position, and a second different corrective yaw moment to the vehicle in response to said trailer mode selection switch being in the trailering mode position.

21. The vehicle stability enhancement system of claim 20, wherein:

said first corrective yaw moment is responsive to a first ratio of rear wheel steering angle to front wheel steering angle (R/F);

said second corrective yaw moment is responsive to a second ratio of rear wheel steering angle to front wheel steering angle (R/F); and

said first ratio has a value that is less than the value of said second ratio at a given vehicle velocity.