Motor vehicle control using a dynamic feedforward approach
First Claim
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1. A dynamic feedforward (DFF) electronic stability control (ESC) system for a motor vehicle, comprising:
- at least one sensor for providing a driver input;
a control unit implementing a dynamic reference model that provides a desired behavior based upon the driver input, the control unit implementing a feedforward control that determines an ESC differential brake force based upon the desired behavior, wherein the control unit converts the ESC differential brake force into a delta velocity (DVLR) command; and
an electronic stability control (ESC) actuator coupled to the control unit and receiving the DVLR command, wherein the ESC actuator controls a motor vehicle subsystem responsive to the DVLR command to provide a desired correction to an associated motor vehicle.
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Abstract
A control system manages yaw-plane motion, while simultaneously comprehending and managing roll motion. The system reduces excessive maneuver-induced roll motion by properly shaping yaw-plane motion, which may include increasing yaw damping and/or decreasing a yaw gain, under various conditions, to avoid excessive excitation of roll dynamics.
186 Citations
21 Claims
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1. A dynamic feedforward (DFF) electronic stability control (ESC) system for a motor vehicle, comprising:
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at least one sensor for providing a driver input; a control unit implementing a dynamic reference model that provides a desired behavior based upon the driver input, the control unit implementing a feedforward control that determines an ESC differential brake force based upon the desired behavior, wherein the control unit converts the ESC differential brake force into a delta velocity (DVLR) command; and an electronic stability control (ESC) actuator coupled to the control unit and receiving the DVLR command, wherein the ESC actuator controls a motor vehicle subsystem responsive to the DVLR command to provide a desired correction to an associated motor vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A control system for a motor vehicle that coordinates yaw-plane motion and roll motion of the motor vehicle, the system comprising:
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at least one sensor for providing a plurality of driver inputs, wherein the driver inputs include a motor vehicle steering angle and a motor vehicle speed; a control unit implementing a reference model that provides a desired yaw rate based upon the driver inputs, the control unit implementing a roll motion prediction model which predicts when roll motion of the vehicle may be severely excited by yaw-plane motion, the control unit implementing a plant model algorithm that provides a predicted yaw rate based upon the driver inputs, the control unit modifying the desired yaw rate when roll motion excitation exceeds a desired level, the control unit determining an error term based upon the desired yaw rate and the predicted yaw rate and providing a delta velocity (DVLR) command based on the error term to manage the roll motion excitation; and an electronic stability control (ESC) actuator coupled to the control unit and receiving the DVLR command, wherein the ESC actuator controls a motor vehicle brake subsystem responsive to the DVLR command to provide a desired correction to the motor vehicle. - View Dependent Claims (11, 12, 13, 14, 15)
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16. A control system for a motor vehicle that coordinates yaw-plane motion and roll motion of the motor vehicle, the system comprising:
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at least one sensor for providing a plurality of driver inputs, wherein the driver inputs include a motor vehicle steering angle and a motor vehicle speed, the at least one sensor also providing an actual yaw rate; a control unit implementing a reference model that receives the steering angle and the speed and provides a desired yaw rate, the control unit implementing a roll motion prediction model which predicts when roll motion of the vehicle may be severely excited by yaw-plane motion, the control unit modifying the desired yaw rate when roll motion excitation exceeds a desired level, the control unit determining an error term based upon the desired yaw rate and the actual yaw rate and providing a delta velocity (DVLR) command based on the error term to manage the roll motion excitation; and an electronic stability control (ESC) actuator coupled to the control unit and receiving the DVLR command, wherein the ESC actuator controls a vehicle brake subsystem responsive to the DVLR command to provide a desired correction to an associated motor vehicle. - View Dependent Claims (17, 18, 19, 20, 21)
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Specification