Brake control system and method

• US 7,409,281 B2
• Filed: 12/13/2005
• Issued: 08/05/2008
• 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:
  US11/302,294
• Publication Number:
  US 20060095189A1
• Time in Patent Office: 966 Days
• Field of Search: 701/70, 701/36, 701/1, 701/78, 701/35, 701/79, 303/7, 303/123, 303/124, 303/192
• 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 controlling a brake mechanism of a towed vehicle towed by a towing vehicle, comprising the steps of:

measuring acceleration of one of the towed vehicle or the towing vehicle in first and second directions using a two-dimensional accelerometer device and establishing first and second acceleration values, the first and second directions being perpendicular, respectively; and

,

controlling the brake mechanism of the towed vehicle as a function of the first and second acceleration values, wherein the step of controlling the brake mechanism includes the step of establishing a magnitude of a horizontal component of the acceleration of one of the towing vehicle or the towed vehicle as a function of the first and second acceleration values.

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, 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.

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

5. A method, as set forth in claim 4, 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.

6. A method as set forth in claim 4, 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.

7. A method, as set forth in claim 4, wherein the accelerometer device is an integrated circuit that contains both x and y accelerometer functions.

8. A method, as set forth in claim 7, including the step of establishing a gravity vector representing acceleration due to gravity, 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 4, 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, as set forth in claim 9, 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.

11. A method, as set forth in claim 1, including the step of establishing a gravity vector representing acceleration due to gravity.

12. A method, as set forth in claim 11, 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.

13. A method, as set forth in claim 11, 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.

14. A method, as set forth in claim 11, 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.

15. A method, as set forth in claim 11, 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.

16. A method, as set forth in claim 11, 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.

17. A method, as set forth in claim 11, 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.

18. A method, as set forth in claim 11, 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.

19. A method, as set forth in claim 11, 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.

20. A system for controlling a brake mechanism of a towed vehicle towed by a towing vehicle, comprising:

an accelerometer device for measuring acceleration of one of the towed vehicle or the towing 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 receiving the first and second acceleration values and for controlling the brake mechanism of the towed vehicle as a function of the first and second acceleration values and for establishing a magnitude of a horizontal component of the acceleration of one of the towing vehicle or the towed vehicle as a function of the first and second acceleration values.

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

22. A system, as set forth in claim 20, wherein the accelerometer device is an integrated circuit that contains both x and y accelerometer functions.

23. A system, as set forth in claim 20, the controller for establishing a gravity vector representing acceleration due to gravity.

24. A system, as set forth in claim 23, 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 controller, in establishing a gravity vector, for (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.

25. A method for controlling a brake mechanism of a towed vehicle towed by a towing vehicle, comprising the steps of:

measuring acceleration of one of the towed vehicle or the towing vehicle in first and second directions using a two-dimensional accelerometer device and establishing first and second acceleration values, the first and second directions being perpendicular, respectively;

establishing a magnitude of a horizontal component of the acceleration of one of the towing vehicle or the towed vehicle as a function of the first and second acceleration values; and

,

controlling the brake mechanism of the towed vehicle as a function of the horizontal component of the acceleration of one of the towing vehicle or the towed vehicle.

26. A system for controlling a brake mechanism of a towed vehicle towed by a towing vehicle, comprising:

an accelerometer device for measuring acceleration of one of the towed vehicle or the towing 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 receiving the first and second acceleration values and establishing a magnitude of a horizontal component of the acceleration of one of the towing vehicle or the towed vehicle as a function of the first and second acceleration values and for controlling the brake mechanism of the towed vehicle as a function of the horizontal component of the acceleration of one of the towing vehicle or the towed vehicle.