Vehicle control system for exiting ruts

• US 7,146,261 B2
• Filed: 06/03/2004
• Issued: 12/05/2006
• Est. Priority Date: 06/03/2004
• Status: Active Grant

• Current Assignee: Jaguar Land Rover Limited (TATA Motors Limited)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Turner, Marcus, Hulme, Ian
• Primary Examiner(s): Tran, Dalena
• Application Number:
  US10/858,876
• Publication Number:
  US 20050273239A1
• Time in Patent Office: 915 Days
• Field of Search: 701/41, 701/70, 701/90, 701/91, 701/71, 701/78, 701/80, 701/82, 701/83, 180/197, 303/139, 303/146, 303/140, 303/143, 303/196, 340/901, 340/905
• US Class Current: 701/41
• 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: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 30/045 Improving turning performance
• CPC Class Codes: B60W 40/11 Pitch movement
• CPC Class Codes: B60W 40/112 Roll movement
• CPC Class Codes: B60W 40/114 Yaw movement
• CPC Class Codes: B62D 5/008 Changing the transfer ratio between the steering wheel and the steering gear by variable supply of energy, e.g. by using a superposition gear
• CPC Class Codes: B62D 6/002 computing target steering angles for front or rear wheels B62D7/159 takes precedence

Abstract

A vehicle control system adapted to facilitate exiting of ruts includes an active steering system having a steerable wheel defining a steering angle. The active steering system also includes a steering wheel providing a driver input control angle, the active steering system further including a coupler component, an actuator component, a controller component, and a sensor component. The components of the active steering system are operably interconnected such that the controller component can selectively vary the steering angle relative to the driver input control angle. The steering angle defines an expected vehicle yaw when the steerable wheel is not slipping on a contact surface such as a road surface. The sensor component is configured to provide the controller with a signal corresponding to an actual yaw angle of a vehicle. The vehicle control system also includes a braking system adapted to brake selected wheels of a vehicle. The controller is configured to determine if a vehicle is in a rut based at least in part upon the expected vehicle yaw and the actual yaw angle. The controller provides the braking signal to brake wheels on a first side of a vehicle more than on a second side to generate a yaw torque tending to increase the actual yaw angle and thereby facilitate exiting of a rut.

Claims

1. A vehicle control system adapted to facilitate exiting of ruts, comprising:

an active steering system including a steerable wheel defining a steering angle and a steering wheel providing a driver input control angle, said active steering system further including a coupler component, an actuator component, a controller component, and a sensor component, said components operably interconnected such that said controller component can selectively vary said steering angle relative to said driver input control angle, said steering angle defining an expected vehicle yaw when said steerable wheel is not slipping on a contact surface;

said sensor component configured to provide said controller component with a signal corresponding to an actual yaw rate of a vehicle;

a braking system adapted to brake selected wheels of a vehicle;

said controller component configured to determine if a vehicle is in a rut based at least in part upon said expected vehicle yaw and said actual yaw rate, said controller component providing a braking signal to brake wheels on a first side of a vehicle more than on a second side to generate a yaw torque tending to increase said actual yaw rate and thereby facilitate exiting of a rut.

2. The vehicle control system of claim 1, wherein:

said controller component varies said steering angle based, at least in part, upon said expected vehicle yaw and said actual yaw rate.

3. The vehicle control system of claim 2, wherein:

said controller component provides a steering signal that positions said steerable wheel at an optimum steering angle for exiting a rut.

4. The vehicle control system of claim 3, wherein:

said controller component provides said steering signal based, at least in part, on whether the difference between the expected vehicle yaw and the actual yaw rate is greater than a predetermined amount.

5. The vehicle control system of claim 4, wherein:

said controller component defines at rut exiting mode when providing a braking signal to brake wheels on the first side of a vehicle more than on the second side; and

including;

a switch that permits a user to manually turn the rut exiting mode on and off.

6. The vehicle control system of claim 4, wherein:

said controller component utilizes a look up table to determine said optimum steering angle based upon at least one vehicle operating parameter.

7. The vehicle control system of claim 1, wherein:

the steering angle is a percentage of the driver input control angle.

8. A vehicle control system, comprising:

at least one vehicle control device that can be manually manipulated by a driver to vary a vehicle control parameter;

a controller that selectively varies at least one vehicle control parameter to provide a yaw moment acting on the vehicle tending to displace the vehicle in a yaw sense;

said controller determining if the vehicle is in a rut by comparing the driver'"'"'s desired direction of travel to the vehicle'"'"'s actual direction of travel; and

wherein;

said controller includes a rut exiting function including varying said at least one vehicle control parameter to provide a yaw moment tending to displace the vehicle in a yaw sense in the driver'"'"'s desired direction of travel to thereby facilitate exit of the rut.

9. The vehicle control system of claim 8, wherein:

said at least one vehicle control device is a steering wheel; and

said at least one control parameter varied by said controller comprises the vehicle'"'"'s brakes.

10. The vehicle control system of claim 9, wherein:

said controller brakes more on a first side of the vehicle to provide at least a portion of said yaw moment.

11. The vehicle control system of claim 10, wherein:

said vehicle control system includes an active steering system that varies steering wheels of the vehicle to provide at least a portion of said yaw moment.

12. The vehicle control system of claim 8, wherein:

said vehicle control system includes an active steering system that varies steering wheels of the vehicle to provide at least a portion of said yaw moment.

13. The vehicle control system of claim 8, wherein:

upon determining that the vehicle is in a rut, said controller controls said at least one control parameter based, at least in part, on a velocity of the vehicle.

14. The vehicle control system of claim 13, wherein:

said controller does not utilize said rut exiting function if the velocity of the vehicle is below a predetermined value.

15. The vehicle control system of claim 8, wherein:

said controller determines if a wheel is slipping and controls the power supplied to the wheel to reduce slipping thereof.

16. A motor vehicle, comprising:

a chassis, a powertrain, and a vehicle control system;

said chassis including at least one steerable wheel defining a steering angle;

said powertrain including an engine and a transmission coupled thereto;

said vehicle control system including a controller, an active steering system coupled to said controller, and a braking system that is also coupled to said controller;

said active steering system including said at least one steerable wheel defining the steering angle and a steering wheel providing a driver input control angle, said active steering system further including a coupler component, an actuator component, a controller component, and a sensor component, said components of said active steering system operably interconnected such that said controller component can selectively vary said steering angle relative to said driver input control angle, said steering angle defining an expected yaw rate of the vehicle when said steerable wheel is not slipping;

said sensor component configured to provide said controller with a signal corresponding to an actual yaw angle of a vehicle;

said controller component determining if said vehicle is in a rut and controlling said braking system and said active steering system to generate a yaw moment tending to displace said vehicle in a yaw sense to thereby enable said vehicle to exit a rut.

17. The motor vehicle of claim 16, wherein:

said steering angle corresponds to an expected yaw rate of the vehicle;

said controller component determines that the vehicle is in a rut if the difference between the expected yaw of the vehicle and the actual yaw of the vehicle are greater than a predetermined amount.

18. The motor vehicle of claim 16, wherein:

said controller component determines that said vehicle is in a rut only if the velocity of the vehicle is below a predetermined value.

19. The motor vehicle of claim 16, wherein:

said controller component provides greater braking on a first side of said vehicle than on a second side of said vehicle to provide said yaw moment.

20. The motor vehicle of claim 16, wherein:

said controller component sets said steerable wheel to an optimum angle for exiting a rut based on at least one environmental parameter.

21. The motor vehicle of claim 20, wherein:

said at least one environmental parameter is the coefficient of friction of soil in contact with wheels of said vehicle.