Integrated control system for stability control of yaw, roll and lateral motion of a driving vehicle using an integrated sensing system with pitch information
First Claim
1. A method of controlling a vehicle system comprising:
- measuring vehicle dynamic conditions;
determining a desired sideslip angle, an actual sideslip angle, a desired yaw rate and an actual yaw rate in a moving road plane using the measured vehicle dynamic conditions;
generating a control signal in response to the desired sideslip angle, the actual sideslip angle, the desired yaw rate and the actual yaw rate in the moving road plane; and
controlling a vehicle system in response to the control signal.
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Accused Products
Abstract
An integrated stability control system using the signals from an integrated sensing system for an automotive vehicle includes a plurality of sensors sensing the dynamic conditions of the vehicle. The sensors include an IMU sensor cluster, a steering angle sensor, wheel speed sensors, any other sensors required by subsystem controls. The signals used in the integrated stability controls include the sensor signals; the roll and pitch attitudes of the vehicle body with respect to the average road surface; the road surface mu estimation; the desired sideslip angle and desired yaw rate from a four-wheel reference vehicle model; the actual vehicle body sideslip angle projected on the moving road plane; and the global attitudes. The demand yaw moment used to counteract the undesired vehicle lateral motions (under-steer or over-steer or excessive side sliding motion) are computed from the above-mentioned variables. The braking control is a slip control whose target slip ratios at selective wheels or wheel are directly generated from the request brake pressures computed from the demand yaw moment.
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Citations
15 Claims
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1. A method of controlling a vehicle system comprising:
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measuring vehicle dynamic conditions; determining a desired sideslip angle, an actual sideslip angle, a desired yaw rate and an actual yaw rate in a moving road plane using the measured vehicle dynamic conditions; generating a control signal in response to the desired sideslip angle, the actual sideslip angle, the desired yaw rate and the actual yaw rate in the moving road plane; and controlling a vehicle system in response to the control signal. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A method of controlling a vehicle having a brake and an electronic throttle comprising:
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determining a relative roll angle and a relative pitch angle; determining a body-fixed frame longitudinal acceleration, a body-fixed frame lateral acceleration and a body-fixed frame vertical acceleration; transforming the body-fixed frame longitudinal acceleration, body-fixed frame lateral acceleration and body-fixed frame vertical acceleration to a moving road plane lateral acceleration, a moving road plane longitudinal acceleration and a moving road plane vertical acceleration using the relative roll angle and the relative pitch angle; computing an actual yaw rate and an actual vehicle sideslip angle measured on the moving road plane; computing a desired yaw rate and a desired sideslip angle measured on the moving road plane; computing a difference between the actual sideslip angle and the desired sideslip angle to form a sideslip error; computing yaw rate error between the actual yaw rate and the desired yaw rate; computing a demand yaw moment based on the sideslip error and yaw rate error; computing a target wheel longitudinal slip ratio based on the demand yaw moment; controlling the vehicle brakes to conduct slip control based on the target wheel longitudinal slip ratio.
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Specification