Brake control system and method

• US 7,058,499 B2
• Filed: 04/21/2004
• Issued: 06/06/2006
• Est. Priority Date: 05/20/2003
• Status: Expired due to Fees

• Current Assignee: Kds Controls
• Original Assignee: Kds Controls
• Inventors: Kissel, William R.
• Primary Examiner(s): NGUYEN, TAN QUANG
• Application Number:
  US10/828,756
• Publication Number:
  US 20040245849A1
• Time in Patent Office: 776 Days
• Field of Search: 701/70, 701/72, 701/78, 701/83, 701/91, 701/38, 701/79, 303/7, 303/20, 303/124, 188/112.R, 188/112.A, 280/5.502, 280/5.507, 280/423.1, 280/428
• US Class Current: 701/70
• CPC Class Codes: B60T 13/662 characterised by specified functions of the control system components
• CPC Class Codes: B60T 8/1708 for lorries or tractor-trailer combinations
• 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

Abstract

A system and method establishes an acceleration of a vehicle which may be used to control a brake system of a towed vehicle towed by a towing vehicle. The system and method establish a gravity vector representing acceleration due to gravity, measure acceleration of the vehicle in a first direction and responsively establish a first acceleration value, measure acceleration of the vehicle in a second direction and responsively establish a second acceleration value, and establish a magnitude of the acceleration of the vehicle in a plane orthogonal to the gravity vector as a function of the gravity vector and the first and second acceleration values.

Claims

1. A method for establishing an acceleration of a vehicle, comprising the steps of:

establishing a gravity vector representing acceleration due to gravity;

measuring acceleration of the vehicle in a first direction and establishing a first acceleration value;

measuring acceleration of the vehicle in a second direction and establishing a second acceleration value, the first and second directions being perpendicular; and

,

establishing a magnitude of a horizontal component of the acceleration of the vehicle as a function of the gravity vector and the first and second acceleration values, wherein the step of establishing the first acceleration value includes the step of applying a first offset value and wherein the step of establishing the second acceleration value includes the step of applying a second offset value.

2. A method, as set forth in claim 1, wherein the horizontal component of the acceleration is in a plane defined by the first and second directions.

3. A method, as set forth in claim 1, including the step of establishing the first and second offset values using a calibration routine.

4. A method, as set forth in claim 1, the steps of measuring the acceleration of the vehicle being performed by an accelerometer device, the accelerometer device for providing first and second output signals corresponding to acceleration of the device in first and second accelerometer directions, the first and second accelerometer directions being perpendicular, the calibration routine being performed when the accelerometer device is not moving and including the steps of:

reading the first and second output signals when the accelerometer device is in a first position;

rotating the accelerometer device 180 degrees to a second position;

reading the first and second output signals when the accelerometer device is in the second position; and

,

determining the first and second offset values as a function of the first and second signals read when the accelerometer device is in the first position and the first and second signals read when the accelerometer device is in the second position.

5. A method as set forth in claim 3, the first and second offset values being determined by:

X₀=(X₁+X₂)/2, and

Y₀=(Y₁+Y₂)/2,

where X₀ is the first offset value, X₁ is the first output signal read when the accelerometer device is in the first position, X₂ is the first output signal read when the accelerometer device is in the second position, Y₀ is the second offset value, Y₁ is the second output signal read when the accelerometer device is in the first position, and Y₂ is the second output signal read when the accelerometer device is in the second position.

6. A method, as set forth in claim 3, wherein the accelerometer device is a two-axis device which consists of an integrated circuit that contains both x and y accelerometer functions.

7. A method, as set forth in claim 6, where the scaling factor is calculated using:

K=((X₂−

X₁)²+(Y₂−

Y₁)²)/4,

where K is the scaling factor, X₁ is the first output signal read when the accelerometer device is in the first position, X₂ is the first output signal read when the accelerometer device is in the second position, Y₁ is the second output signal read when the accelerometer device is in the first position, and Y₂ is the second output signal read when the accelerometer device is in the second position.

8. A method, as set forth in claim 6, where the scaling factor is calculated using:

K=G², wherein G is the magnitude of the gravity vector.

9. A method, as set forth in claim 3, the calibration routine further including the step of calculating a scaling factor as a function of the first and second signals read when the accelerometer device is in the first position and the first and second signals read when the accelerometer device is in the second position.

10. A method for establishing an acceleration of a vehicle, comprising the steps of:

establishing a gravity vector representing acceleration due to gravity;

measuring acceleration of the vehicle in a first direction and establishing a first acceleration value;

measuring acceleration of the vehicle in a second direction and establishing a second acceleration value, the first and second directions being perpendicular; and

,

establishing a magnitude of a horizontal component of the acceleration of the vehicle as a function of the gravity vector and the first and second acceleration values, wherein the steps of measuring the acceleration of the vehicle being performed by an accelerometer device, the accelerometer device for providing first and second output signals representing acceleration of the device in first and second accelerometer directions, respectively, the first and second accelerometer directions being perpendicular, the step of establishing a gravity vector including the steps of;

(a) reading the first and second output signals; and

,

(b) determining a new gravity vector as a function of a previous gravity vector the first and second output signals and a low pass filter with a predetermined time constant.

11. A method, as set forth in claim 10, the new gravity vector having first and second components, the first and second components of the new gravity vector determined by:

G_X=(1−

(1/A))·

G<sub>OLD—

X</sub>+(x/A), and

G_Y=(1−

(1/A))·

G<sub>OLD—

Y</sub>+(y/A),

where G_X is the first component of the new gravity vector, A is a predetermined constant, G<sub>OLD—

X</sub> is a component of the previous gravity vector, G_Y is the second component of the new gravity vector, G_OLDY is a second component of the previous gravity vector, x is the measured acceleration in the first direction and y is the measured acceleration in the second direction.

12. A method, as set forth in claim 10, the time constant being about 4 milliseconds.

13. A method for establishing an acceleration of a vehicle, comprising the steps of:

establishing a gravity vector representing acceleration due to gravity;

measuring acceleration of the vehicle in a first direction and establishing a first acceleration value;

measuring acceleration of the vehicle in a second direction and establishing a second acceleration value, the first and second directions being perpendicular; and

,

establishing a magnitude of a horizontal component of the acceleration of the vehicle as a function of the gravity vector and the first and second acceleration values,

wherein the horizontal component of the acceleration is determined by;

D=|G×

R|/(G), where D is the horizontal component of the acceleration, G is the gravity vector, R is measured acceleration during a braking event, and G is the magnitude of the gravity vector.

14. A method for establishing an acceleration of a vehicle, comprising the steps of:

establishing a gravity vector representing acceleration due to gravity;

measuring acceleration of the vehicle in a first direction and establishing a first acceleration value;

measuring acceleration of the vehicle in a second direction and establishing a second acceleration value, the first and second directions being perpendicular; and

,

establishing a magnitude of a horizontal component of the acceleration of the vehicle as a function of the gravity vector and the first and second acceleration values, wherein the horizontal component of the acceleration is determined by;

D=|G×

R|/(G²), where D is the horizontal component of the acceleration, G is the gravity vector, R is measured acceleration during a braking event, and G is the magnitude of the gravity vector.

15. A method for establishing an acceleration of a vehicle, comprising the steps of:

establishing a gravity vector representing acceleration due to gravity;

measuring acceleration of the vehicle in a first direction and establishing a first acceleration value;

measuring acceleration of the vehicle in a second direction and establishing a second acceleration value, the first and second directions being perpendicular; and

,

establishing a magnitude of a horizontal component of the acceleration of the vehicle as a function of the gravity vector and the first and second acceleration values, wherein the horizontal component of the acceleration is determined by;

D=|((Y_D·

X_G)−

(X_D·

Y_G)/(G)|, where D is the absolute value of the magnitude of the horizontal component of the acceleration, X_D is the measured acceleration in the first direction, Y_D is the measured acceleration in the second direction, X_G is a first component of the gravity vector, Y_G is a second component of the gravity vector, and G is the magnitude of the gravity vector.

16. A method for establishing an acceleration of a vehicle, comprising the steps of:

establishing a gravity vector representing acceleration due to gravity;

measuring acceleration of the vehicle in a first direction and establishing a first acceleration value;

measuring acceleration of the vehicle in a second direction and establishing a second acceleration value, the first and second directions being perpendicular; and

,

establishing a magnitude of a horizontal component of the acceleration of the vehicle as a function of the gravity vector and the first and second acceleration values, wherein the horizontal component of the acceleration is determined by;

D=|((Y_D·

X_G)−

(X_D·

Y_G)/(G²)|, where D is the absolute value of the magnitude of the horizontal component of the acceleration, X_D is the measured acceleration in the first direction, Y_D is the measured acceleration in the second direction, X_G is a first component of the gravity vector, Y_G is a second component of the gravity vector, and G is the magnitude of the gravity vector.

17. A method for establishing an acceleration of a vehicle, comprising the steps of:

establishing a gravity vector representing acceleration due to gravity;

measuring acceleration of the vehicle in a first direction and establishing a first acceleration value;

measuring acceleration of the vehicle in a second direction and establishing a second acceleration value, the first and second directions being perpendicular; and

,

establishing a magnitude of a horizontal component of the acceleration of the vehicle as a function of the gravity vector and the first and second acceleration values, wherein the horizontal component of the acceleration is determined by;

D=((Y_D·

X_G)−

(X_D·

Y_G)/(G), where D is the horizontal component of the acceleration, X_D is the measured acceleration in the first direction, Y_D is the measured acceleration in the second direction, X_G is a first component of the gravity vector, Y_G is a second component of the gravity vector, and G is the magnitude of the gravity vector.

18. A method for establishing an acceleration of a vehicle, comprising the steps of:

establishing a gravity vector representing acceleration due to gravity;

measuring acceleration of the vehicle in a first direction and establishing a first acceleration value;

measuring acceleration of the vehicle in a second direction and establishing a second acceleration value, the first and second directions being perpendicular; and

,

establishing a magnitude of a horizontal component of the acceleration of the vehicle as a function of the gravity vector and the first and second acceleration values, wherein the horizontal component of the acceleration is determined by;

D=((Y_D·

X_G)−

(X_D·

Y_G)/(G²), where D is the horizontal component of the acceleration, X_D is the measured acceleration in the first direction, Y_D is the measured acceleration in the second direction, X_G is a first component of the gravity vector, Y_G is a second component of the gravity vector, and G is the magnitude of the gravity vector.

19. A system for establishing an acceleration of a vehicle, comprising:

an accelerometer device for measuring acceleration of the vehicle in a first direction and responsively establishing a first acceleration vale and for measuring acceleration of the vehicle in a second direction and responsively establishing a second acceleration value, the first and second directions being perpendicular; and

,

a controller coupled to the accelerometer device for establishing a gravity vector representing acceleration due to gravity and for establishing a magnitude of a horizontal component of the acceleration of the vehicle as a function of the gravity vector and the first and second acceleration values, the controller for applying a first offset to the measured acceleration of the vehicle in the first direction and for applying a second offset to the measured acceleration of the vehicle in the second direction.

20. A system, as set forth in claim 19, wherein the horizontal component of the acceleration is in a plane defined by the first and second directions.

21. A system, as set forth in claim 19, the controller for determining the first and second offset values using a calibration routine.

22. A system, as set forth in claim 21, the controller for performing the calibration routine while the accelerometer device is not moving, the calibration routine including the steps of reading the first and second output signals when the accelerometer device is in a first position, rotating the accelerometer device 180 degrees to a second position, reading the first and second output signals when the accelerometer device is in the second position, and determining the first and second offset values as a function of the first and second signals read when the accelerometer device is in the first position and the first and second signals read when the accelerometer device is in the second position.

23. A system, as set forth in claim 22, wherein the accelerometer device is a two-axis device which consists of an integrated circuit that contains both x and y accelerometer functions.

24. A system, as set forth in claim 23, the calibration routine further including the step of calculating a scaling factor as a function of the first and second signals read when the accelerometer device is in the first position and the first and second signals read when the accelerometer device is in the second position.

25. A system, as set forth in claim 23, where the scaling factor is calculated using:

K=(X₂−

X₁)²+(Y₂−

Y₁)²)/4,

where K is the scaling factor, X₁ is the first output signal read when the accelerometer device is in the first position, X₂ is the first output signal read when the accelerometer device is in the second position, Y₁ is the second output signal read when the accelerometer device is in the first position, and Y₂ is the second output signal read when the accelerometer device is in the second position.

26. A system, as set forth in claim 19, the first and second offset values being determined by:

X₀=(X₁+X₂)/2, and

Y₀=(Y₁+Y₂)/2,

where X₀ is the first offset value, X₁ is the first output signal read when the accelerometer device is in the first position, X₂ is the first output signal read when the accelerometer device is in the second position, Y₀ is the second offset value, Y₁ is the second output signal read when the accelerometer device is in the first position, and Y₂ is the second output signal read when the accelerometer device is in the second position.

27. A system, as set forth in claim 19, where the scaling factor is calculated using:

K=G²,

where K is the scaling factor, and G is the magnitude of the gravity vector.

28. A system for establishing an acceleration of a vehicle, comprising:

an accelerometer device for measuring acceleration of the vehicle in a first direction and responsively establishing a first acceleration value and for measuring acceleration of the vehicle in a second direction and responsively establishing a second acceleration value, the first and second directions being perpendicular; and

,

a controller coupled to the accelerometer device for establishing a gravity vector representing acceleration due to gravity and for establishing a magnitude of a horizontal component of the acceleration of the vehicle as a function of the gravity vector and the first and second acceleration values, the controller establishing the gravity vector by (a) reading the first and second output signals, and (b) determining a new gravity vector as a function of a previous gravity vector, the first and second output signals, and a low pass filter with a second predetermined time constant.

29. A system, as set forth in claim 28, the new gravity vector having first and second components, the first and second components of the new gravity vector determined by:

G_X=(1−

(1/A))·

G<sub>OLD—

X</sub>+(x/A), and

G_Y=(1−

(1/A))·

G<sub>OLD—

Y</sub>+(y/A),

where G_X is the first component of the new gravity vector, A is a predetermined constant, G<sub>OLD—

X</sub> is a component of the previous gravity vector, G_Y is the second component of the new gravity vector, G<sub>OLD—

Y</sub> is a second component of the previous gravity vector, x is the measured acceleration in the first direction and y is the measured acceleration in the second direction.

30. A system, as set forth in claim 28, the predetermined time constant being about 4 milliseconds.

31. A system for establishing an acceleration of a vehicle, comprising:

an accelerometer device for measuring acceleration of the vehicle in a first direction and responsively establishing a first acceleration value and for measuring acceleration of the vehicle in a second direction and responsively establishing a second acceleration value, the first and second directions being perpendicular; and

,

a controller coupled to the accelerometer device for establishing a gravity vector representing acceleration due to gravity and for establishing a magnitude of a horizontal component of the acceleration of the vehicle as a function of the gravity vector and the first and second acceleration values, wherein the horizontal component of the acceleration is determined by;

D=|G×

R|/(G), where D is the horizontal component of the acceleration, G is the gravity vector, R is measured acceleration during a braking event, G×

R is the cross product of vectors G and R, and G is the magnitude of the gravity vector.

32. A system for establishing an acceleration of a vehicle, comprising:

an accelerometer device for measuring acceleration of the vehicle in a first direction and responsively establishing a first acceleration value and for measuring acceleration of the vehicle in a second direction and responsively establishing a second acceleration value, the first and second directions being perpendicular; and

,

a controller coupled to the accelerometer device for establishing a gravity vector representing acceleration due to gravity and for establishing a magnitude of a horizontal component of the acceleration of the vehicle as a function of the gravity vector and the first and second acceleration values, wherein the horizontal component of the acceleration is determined by;

D=|G×

R|/(G²), where D is the horizontal component of the acceleration, G is the gravity vector, R is measured acceleration during a braking event, and G is the magnitude of the gravity vector.

33. A system for establishing an acceleration of a vehicle, comprising:

an accelerometer device for measuring acceleration of the vehicle in a first direction and responsively establishing a first acceleration value and for measuring acceleration of the vehicle in a second direction and responsively establishing a second acceleration value, the first and second directions being perpendicular; and

,

a controller coupled to the accelerometer device for establishing a gravity vector representing acceleration due to gravity and for establishing a magnitude of a horizontal component of the acceleration of the vehicle as a function of the gravity vector and the first and second acceleration values, wherein the horizontal component of the acceleration is determined by;

D=|((Y_D·

X_G)−

(X_D·

Y_G)/(G)|, where D is the absolute value of the magnitude of the horizontal component of the acceleration, X_D is the measured acceleration in the first direction, Y_D is the measured acceleration in the second direction, X_G is a first component of the gravity vector, Y_G is a second component of the gravity vector, and G is the magnitude of the gravity vector.

34. A system for establishing an acceleration of a vehicle, comprising:

an accelerometer device for measuring acceleration of the vehicle in a first direction and responsively establishing a first acceleration value and for measuring acceleration of the vehicle in a second direction and responsively establishing a second acceleration value, the first and second directions being perpendicular; and

,

a controller coupled to the accelerometer device for establishing a gravity vector representing acceleration due to gravity and for establishing a magnitude of a horizontal component of the acceleration of the vehicle as a function of the gravity vector and the first and second acceleration values, wherein the horizontal component of the acceleration is determined by;

D=|((Y_D·

X_G)−

(X_D·

Y_G)/(G²)|, where D is the absolute value of the magnitude of the horizontal component of the acceleration, X_D is the measured acceleration in the first direction, Y_D is the measured acceleration in the second direction, X_G is a first component of the gravity vector, Y_G is a second component of the gravity vector, and G is the magnitude of the gravity vector.

35. A system for establishing an acceleration of a vehicle, comprising:

an accelerometer device for measuring acceleration of the vehicle in a first direction and responsively establishing a first acceleration value and for measuring acceleration of the vehicle in a second direction and responsively establishing a second acceleration value, the first and second directions being perpendicular; and

,

a controller coupled to the accelerometer device for establishing a gravity vector representing acceleration due to gravity and for establishing a magnitude of a horizontal component of the acceleration of the vehicle as a function of the gravity vector and the first and second acceleration values, wherein the horizontal component of the acceleration is determined by;

D=((Y_D·

X_G)−

(X_D·

Y_G)/(G), where D is the horizontal component of the acceleration, X_D is the measured acceleration in the first direction, Y_D is the measured acceleration in the second direction, X_G is a first component of the gravity vector, Y_G is a second component of the gravity vector, and G is the magnitude of the gravity vector.

36. A system for establishing an acceleration of a vehicle, comprising:

an accelerometer device for measuring acceleration of the vehicle in a first direction and responsively establishing a first acceleration value and for measuring acceleration of the vehicle in a second direction and responsively establishing a second acceleration value, the first and second directions being perpendicular; and

,

a controller coupled to the accelerometer device for establishing a gravity vector representing acceleration due to gravity and for establishing a magnitude of a horizontal component of the acceleration of the vehicle as a function of the gravity vector and the first and second acceleration values, wherein the horizontal component of the acceleration is determined by;

D=((Y_D·

X_G)−

(X_D·

Y_G)/(G²), where D is the horizontal component of the acceleration, X_D is the measured acceleration in the first direction, Y_D is the measured acceleration in the second direction, X_G is a first component of the gravity vector, Y_G is a second component of the gravity vector, and G is the magnitude of the gravity vector.