Method and apparatus for detecting and correcting trailer induced yaw movements in a towing vehicle

• US 7,272,481 B2
• Filed: 12/22/2005
• Issued: 09/18/2007
• Est. Priority Date: 06/30/2003
• Status: Expired due to Fees

• Current Assignee: Kelsey-Hayes Co. (Zeppelin - Stiftung der Stadt Friedrichshafen)
• Original Assignee: Kelsey-Hayes Co. (Zeppelin - Stiftung der Stadt Friedrichshafen)
• Inventors: Knechtges, Josef, Spieker, Arnold H., Doll, Kenneth, Raffauf, Ralf, Einig, Frank
• Primary Examiner(s): Zanelli; Michael J.
• Application Number:
  US11/315,634
• Publication Number:
  US 20060173584A1
• Time in Patent Office: 635 Days
• Field of Search: None
• US Class Current: 701/70
• CPC Class Codes: B60T 2230/06 Tractor-trailer swaying
• CPC Class Codes: B60T 8/1708 for lorries or tractor-trailer combinations
• 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: G05D 1/0891 specially adapted for land vehicles

Abstract

An apparatus and method for determining the presence of excessive yaw rate in a vehicle by calculating an instability index that is a function of the vehicle yaw rate and generating an excessive yaw rate signal when the instability index exceeds a yaw rate threshold.

Claims

1. An apparatus for correcting excessive yaw induced in a towing vehicle by a towed trailer, the apparatus comprising:

a control valve adapted to be connected to the towing vehicle hydraulic brake system, said control valve operable to selectively actuate the towing vehicle wheel brakes;

a plurality of vehicle parameter sensors adapted to be mounted upon the towing vehicle; and

an electronic control unit also adapted to be mounted upon the towing vehicle, said electronic control unit electrically connected to said control valve and said vehicle parameter sensors, said control unit responsive to signals received from said vehicle parameter sensors to calculate an instability index for the combination of the towing vehicle and the towed trailer that is a function of the towing vehicle yaw rate and upon said instability index exceeding a predetermined instability threshold, said control unit is further responsive to cause said control valve to selectively apply the towing vehicle brakes to counter the towing vehicle yaw motion.

2. An apparatus for correcting excessive yaw induced in a towing vehicle by a towed trailer, the apparatus comprising:

a control valve adapted to be connected to the towing vehicle hydraulic brake system, said control valve operable to selectively actuate the towing vehicle wheel brakes;

a plurality of vehicle parameter sensors adapted to be mounted upon the towing vehicle; and

an electronic control unit also adapted to be mounted upon the towing vehicle, said electronic control unit electrically connected to said control valve and said vehicle parameter sensors, said electronic control unit being responsive to signals received from said vehicle parameter sensors to determine an intended maximum yaw rate curve and an actual towing vehicle maximum yaw rate curve and to calculate an instability index for the towing vehicle that is a function of the difference between said intended maximum yaw rate curve and said actual towing vehicle maximum yaw rate curve, said electronic control unit being further responsive, upon said instability index exceeding a predetermined instability threshold to cause said control valve to selectively apply the towing vehicle brakes to counter the towing vehicle yaw motion.

3. The apparatus according to claim 2 wherein said towing vehicle parameter sensors include a steering angle sensor and a plurality of wheel speed sensors adapted to be mounted upon the towing vehicle, said electronic control unit being responsive to signals received from said steering angle sensor and said wheel speed sensors to calculate a driver intended yaw rate and further wherein said intended maximum yaw rate curve is a function of said driver intended yaw rate.

4. The apparatus according to claim 3 wherein said towing vehicle parameter sensors include a yaw rate sensor adapted to be mounted upon the towing vehicle, said yaw rate sensor generating a signal that is proportional to the actual towing vehicle yaw rate and further wherein said actual towing vehicle maximum yaw rate curve is a function of said towing vehicle yaw rate.

5. The apparatus according to claim 2 wherein said instability threshold is a first instability threshold and further wherein said electronic control unit continues to selectively apply the towing vehicle brakes until the instability index is reduced below a second instability threshold that is less than said first instability threshold.

6. The apparatus according to claim 5 wherein said control unit is further operative to determine a frequency associated with said towing vehicle yaw motion, said control unit being further operative to selectively apply the towing vehicle brakes only when said frequency is within a frequency range.

7. The apparatus according to claim 6 wherein said control unit is operative to selectively apply the towing vehicle brakes only when said frequency has remained within said frequency range for a predetermined time period.

8. The apparatus according to claim 6 wherein said control unit is further operative to monitor the towing vehicle velocity, said control unit being further operative to selectively apply the towing vehicle brakes only when said towing vehicle velocity is greater than a towing vehicle velocity threshold.

9. The apparatus according to claim 8 wherein said control unit is operative to selectively apply the towing vehicle brakes only when said towing vehicle velocity has remained greater than said towing vehicle velocity threshold for a predetermined time period.

10. The apparatus according to claim 8 wherein said control unit is further operative to monitor the towing vehicle direction, said control unit being further operative to selectively apply the towing vehicle brakes only when the towing vehicle is moving in a forward direction.

11. The apparatus according to claim 8 wherein said control valve and said electronic control unit are included in a vehicle stability control system.

12. The apparatus according to claim 8 wherein additional pressure is applied to the selected towing vehicle brakes, said additional pressure being modulated in magnitude and timing such that a brake torque is generated in opposition to vehicle yaw motions.

13. The apparatus according to claim 8 wherein said electronic control unit also monitors the actual towing vehicle yaw movement and delays application of the brakes until an optimal time for application arrives.

14. An apparatus for detecting excessive yaw induced in a towing vehicle by a towed trailer, the apparatus comprising:

a plurality of vehicle parameter sensors adapted to be mounted upon the towing vehicle; and

an electronic control unit also adapted to be mounted upon the towing vehicle, said electronic control unit electrically connected to said vehicle parameter sensors, said control unit responsive to signals received from said vehicle parameter sensors to calculate an instability index for the combination of the towing vehicle and the towed trailer that is a function of the towing vehicle yaw rate and, upon said instability index exceeding a predetermined instability threshold, the electronic control unit is further responsive to generate an excessive yaw motion signal.

15. An apparatus for correcting excessive yaw induced in a towing vehicle by a towed trailer, the apparatus comprising:

a control valve adapted to be connected to the towing vehicle hydraulic brake system, said control valve operable to selectively actuate the towing vehicle wheel brakes;

a plurality of vehicle parameter sensors adapted to be mounted upon the towing vehicle; and

an electronic control unit also adapted to be mounted upon the towing vehicle, said electronic control unit electrically connected to said control valve and said vehicle parameter sensors, said electronic control unit being responsive to signals received from said vehicle parameter sensors to determine an intended maximum yaw rate curve and an actual towing vehicle maximum yaw rate curve and to calculate an instability index for the towing vehicle that is a function of the difference between said intended maximum yaw rate curve and said actual towing vehicle maximum yaw rate curve, said electronic control unit being further responsive, upon said instability index exceeding a predetermined instability threshold to generate an excessive yaw motion signal.

16. The apparatus according to claim 15 wherein said towing vehicle parameter sensors include a steering angle sensor and a plurality of wheel speed sensors adapted to be mounted upon the towing vehicle, said electronic control unit being responsive to signals received from said steering angle sensor and said wheel speed sensors to calculate a driver intended yaw rate and further wherein said intended maximum yaw rate curve is a function of said driver intended yaw rate.

17. The apparatus according to claim 16 wherein said towing vehicle parameter sensors include a yaw rate sensor adapted to be mounted upon the towing vehicle, said yaw rate sensor generating a signal that is proportional to the actual towing vehicle yaw rate and further wherein said actual towing vehicle maximum yaw rate curve is a function of said towing vehicle yaw rate.

18. A method for detecting excessive yaw rate for a towing vehicle towing a trailer, the method comprising:

(a) providing a plurality of vehicle parameter sensors adapted to be mounted upon the towing vehicle and an electronic control unit adapted to be mounted upon the towing vehicle, the electronic control unit electrically connected to the vehicle parameter sensors;

(b) monitoring the vehicle parameter sensors with the electronic control unit to determine an instability index for the combination of the towing vehicle and the towed trailer that is a function of the towing vehicle yaw rate; and

(c) comparing the instability index to a predetermined instability threshold, and upon the instability index exceeding the predetermined instability threshold, generating an excessive yaw motion signal.

19. A method for detecting excessive yaw rate for a towing vehicle towing a trailer, the method comprising:

(a) providing a plurality of vehicle parameter sensors adapted to be mounted upon the towing vehicle and an electronic control unit adapted to be mounted upon the towing vehicle, the electronic control unit electrically connected to the vehicle parameter sensors;

(b) monitoring the vehicle parameter sensors with the electronic control unit to determine an intended maximum yaw rate curve and an actual towing vehicle maximum yaw rate curve and to then determine an instability index for the towing vehicle that is a function of the difference between the intended maximum yaw rate curve and the actual towing vehicle maximum yaw rate curve; and

(c) comparing the instability index to a predetermined instability threshold, and upon the instability index exceeding the predetermined instability threshold, generating an excessive yaw motion signal.

20. The method according to claim 19 wherein vehicle parameter sensors provided in step (a) include a steering angle sensor and a plurality of wheel speed sensors adapted to be mounted upon the towing vehicle and further wherein, during step (b), the electronic control unit is responsive to signals received from the steering angle sensor and the wheel speed sensors to determine a driver intended yaw rate and to use the driver intended yaw rate to calculate the intended maximum yaw rate curve.

21. The method according to claim 19 wherein vehicle parameter sensors provided in step (a) include a yaw rate sensor adapted to be mounted upon the towing vehicle, the yaw rate sensor being operative to generate a signal that is proportional to the actual towing vehicle yaw rate and further wherein, during step (b), the electronic control unit is responsive to the yaw rate sensor signal to calculate the actual towing vehicle maximum yaw rate curve.

22. The method according to claim 21 wherein the plurality of vehicle parameter sensors and the electronic control unit provided in step (a) are included in an electronic brake control system and further wherein the electronic brake system is responsive to an excessive yaw rate signal generated in step (c) to apply the towing vehicle brakes to reduce the vehicle yaw motion.