Method and apparatus for controlling a vehicle computer model

• US 7,689,393 B2
• Filed: 12/09/2003
• Issued: 03/30/2010
• Est. Priority Date: 12/09/2003
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company), Ford Motor Company
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company), Ford Motor Company
• Inventors: Boyd, Kenneth, Neal, Joseph, Tseng, Eric
• Primary Examiner(s): JONES, HUGH M
• Application Number:
  US10/707,366
• Publication Number:
  US 20050125207A1
• Time in Patent Office: 2,303 Days
• Field of Search: 703/8, 701/41, 180/204, 180/6.2, 180/6.24, 180/6.26, 180/6.28, 434 62- 64
• US Class Current: 703/8
• CPC Class Codes: B60T 2230/02 Side slip angle, attitude angle, floating angle, drift angle
• CPC Class Codes: B60T 2270/406 Test-mode; Self-diagnosis
• CPC Class Codes: B60T 2270/86 Optimizing braking by using ESP vehicle or tire model
• CPC Class Codes: B60T 8/885 using electrical circuitry
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2050/0028 Mathematical models, e.g. for simulation
• CPC Class Codes: B60W 30/02 Control of vehicle driving stability
• CPC Class Codes: B60W 30/10 Path keeping cruise control for automatically following a preceding vehicle B60W30/165

Abstract

A simulation system (30) for simulating an operation of an automotive vehicle includes an input (34) providing vehicle information and path information and a controller (38) having a vehicle computer model therein. The controller (38) is programmed to determine a rear side slip angle of a vehicle computer model; when the rear side slip angle is greater than a threshold, determine a look ahead scale factor; when the rear side slip angle is greater than the threshold, increase a look ahead point as a function of the look ahead scale factor; determine a steering wheel angle input to the computer model by comparing the look ahead point and the intended path; operate the computer model with the steering wheel angle input; and generate an output in response to the vehicle model and the initial steering wheel input or the first steering wheel input.

Claims

1. A simulation system for simulating operation of an automotive vehicle, particularly operating in at least one period of intentionally induced oversteer, said simulation system comprising:

an input device for providing vehicle information and path information;

a controller coupled to said input device and operable to simulate said automotive vehicle using a vehicle computer model, wherein said controller is programmed to

determine a rear side slip angle of said vehicle computer model;

determine an initial steering wheel angle that is input to said vehicle computer model;

when said rear side slip angle is determined to be greater than a predetermined threshold, determine a look ahead scale factor and increase the distance of a look ahead point substantially on or near a driver intended vehicle path as a function of said look ahead scale factor;

determine a new steering wheel angle, which is input to said vehicle computer model at a time later than said initial steering wheel angle, based on the difference between said driver intended vehicle path and said look ahead point on or near said driver intended vehicle path;

operate said vehicle computer model with said initial steering wheel angle when the difference is less than a second predetermined threshold or said new steering wheel angle when the difference is more than a second predetermined threshold; and

generate an output in response to said vehicle computer model and said initial steering wheel angle or said new steering wheel angle.

2. A simulation system as recited in claim 1, wherein said predetermined threshold is about 15 degrees.

3. A simulation system as recited in claim 1, wherein said controller is programmed to determine both a longitudinal vehicle velocity and a lateral vehicle velocity and also determine said rear side slip angle as a function of said longitudinal vehicle velocity and said lateral vehicle velocity.

4. A simulation system as recited in claim 1, wherein said controller is programmed to determine said look ahead scale factor as a function of said rear side slip angle.

5. A simulation system as recited in claim 1, wherein said controller is programmed to determine said look ahead scale factor as a function of an exponential of said rear side slip angle.

6. A simulation system as recited in claim 1, wherein said controller is programmed to determine said look ahead scale factor as a function of an exponential of a product of said rear side slip angle and a constant.

7. A simulation system as recited in claim 6, wherein said constant is about 0.02.

8. A simulation system as recited in claim 1, wherein said rear side slip angle is determined to not be greater than said predetermined threshold, said controller is alternatively programmed to determine an unscaled look ahead factor.

9. A simulation system as recited in claim 1, wherein said controller is programmed to determine said new steering wheel angle when said vehicle computer model is determined to not be headed on target, and said target is associated with said intended vehicle path.

10. A method of operating a vehicle computer model having vehicle information and path information therein the vehicle computer model being operated with at least one occurrence of intentionally induced oversteer, said method being operable on a digital computer system and comprising the steps of:

(a) determining a rear side slip angle of said vehicle computer model;

(b) determining an initial steering wheel angle that is input to said vehicle computer model;

(c) when said rear side slip angle is determined to be greater than a predetermined threshold, determining a look ahead scale factor and increasing the distance of a look ahead point substantially on or near a driver intended vehicle path as a function of said look ahead scale factor;

(d) determining a new steering wheel angle, which is input to said vehicle computer model at a time later than said initial steering wheel angle, based on the difference between said driver intended vehicle path and said look ahead point on or near said driver intended vehicle path;

(e) operating said vehicle computer model with said initial steering wheel angle when the difference is less than a second predetermined threshold or said new steering wheel angle;

when the difference is more than a second predetermined threshold; and

(f) generating an output in response to said vehicle computer model and said initial steering wheel angle or said new steering wheel angle.

11. A method as recited in claim 10, wherein said predetermined threshold is about 15 degrees.

12. A method as recited in claim 10, wherein step (a) is at least partially accomplished by determining both a longitudinal vehicle velocity and a lateral vehicle velocity and also determining said rear side slip angle as a function of said longitudinal vehicle velocity and said lateral vehicle velocity.

13. A method as recited in claim 10, wherein said look ahead scale factor is determined as a function of said rear side slip angle.

14. A method as recited in claim 10, wherein said look ahead scale factor is determined as a function of an exponential of said rear side slip angle.

15. A method as recited in claim 10, wherein said look ahead scale factor is determined as a function of an exponential of a product of said rear side slip angle and a constant.

16. A method as recited in claim 15, wherein said constant is about 0.02.

17. A method as recited in claim 10, said method further comprising the step of when said rear side slip angle is determined to not be greater than said predetermined threshold, alternatively determining an unscaled look ahead factor.

18. A method as recited in claim 10, said method further comprising the step of determining said new steering wheel angle when said vehicle computer model is determined to not be headed on target, said target being associated with said intended vehicle path.

19. A method of operating a vehicle computer model having vehicle information and path information therein the vehicle computer model being operated with at least one occurrence of intentionally induced oversteer, said method comprising the steps of:

determining a rear side slip angle of said vehicle computer model;

determining an initial steering wheel angle that is input to said vehicle computer model;

determining a look ahead point that is substantially on or near a driver intended vehicle path for said vehicle computer model;

when said rear side slip angle is determined to be greater than a predetermined threshold, determining a look ahead scale factor and increasing the distance of said look ahead point as a function of said look ahead scale factor;

when said rear side slip angle is alternatively determined to be less than said predetermined threshold, maintaining the distance of said look ahead point;

when said vehicle computer model is determined to be headed off a predetermined target, determining a new steering wheel angle, which is input to said vehicle computer model, based on the difference between said intended vehicle path with said driver look ahead point on or near said driver intended vehicle path;

operating said vehicle computer model with said initial steering wheel angle when the difference is less than a second predetermined threshold or said new steering wheel angle when the difference is more than a second predetermined threshold; and

generating an output in response to said vehicle computer model and said initial steering wheel angle or said new steering wheel angle.

20. A method as recited in claim 19, wherein said look ahead scale factor is determined as a function of an exponential of said rear side slip angle.