Deceleration control for a vehicle

• US 8,256,851 B2
• Filed: 07/10/2008
• Issued: 09/04/2012
• Est. Priority Date: 07/10/2008
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH, Robert Bosch LLC (Robert Bosch GmbH)
• Original Assignee: Robert Bosch GmbH
• Inventors: Pelosse, Jean Francois
• Primary Examiner(s): KING, BRADLEY T
• Application Number:
  US12/170,793
• Publication Number:
  US 20100007200A1
• Time in Patent Office: 1,517 Days
• Field of Search: 303/3, 303/7, 303/123, 303/138, 303/177
• US Class Current: 303/177
• CPC Class Codes: B60T 7/20 specially for trailers, e.g. in case of uncoupling of or overrunning by trailer inertia-actuated overrun brakes B60T13/08

Abstract

A method, a vehicle using the method, and a system using the method, of controlling the vehicle configured to tow a trailer. The method includes determining first and second vehicle parameters indicative of first and second conditions of the vehicle, and determining a trailer presence from at least one of the first and second vehicle parameters. The method also includes updating the first vehicle parameter when the trailer is present, generating a third vehicle parameter, and determining first and second braking control parameters from the first, second, and third vehicle parameters. The first braking control parameter corresponds to at least one of the second and third vehicle parameters, and the second braking control parameter correspond to at least one of the first and second vehicle parameters. The method can further include generating a braking signal based on one of the first and second braking control parameters.

Claims

1. A method of controlling a vehicle configured to tow a trailer, the method comprising:

determining a first parameter indicative of conditions of the vehicle;

determining a trailer presence based on the first parameter;

updating the first parameter when the trailer is present;

determining a second parameter indicative of conditions of a road where the vehicle is traveling;

determining a maximum obtainable acceleration value of the vehicle without causing instability of the vehicle based on at least one of the first parameter and the second parameter;

determining a maximum obtainable jerk value of the vehicle without causing instability of the vehicle based on at least one of the first parameter and the second parameter; and

generating a braking signal for the vehicle based on the maximum obtainable acceleration value and the maximum obtainable jerk value.

2. The method of claim 1, wherein generating a braking signal comprises determining a minimum braking control parameter based on the maximum obtainable acceleration value and the maximum obtainable jerk value.

3. The method of claim 1, wherein determining a trailer presence includes obtaining a reading from a hitch sensor.

4. The method of claim 1, wherein determining the second parameter includes determining a coefficient of friction of a surface of the road.

5. The method of claim 1, wherein determining the maximum obtainable acceleration value and the maximum obtainable jerk value comprises determining first and second correlations, each of the first and second correlations being based on at least one of the first parameter and the second parameter.

6. The method of claim 5, further comprising determining the first and second correlations in parallel.

7. The method of claim 1, wherein determining at least one of the first parameter and the second parameter comprises determining at least one of longitudinal acceleration, lateral acceleration, total load, a coefficient of friction, yaw rate, temperature, and wiper activity.

8. A method of controlling a vehicle operable to tow a trailer, the method comprising:

determining a first parameter indicative of conditions of the vehicle;

determining a second parameter indicative of conditions of a road where the vehicle is traveling;

determining first and second correlations, each of the first and second correlations based on at least one of the first and second parameters;

determining a plurality of maximum obtainable acceleration values of the vehicle without causing instability of the vehicle and a plurality of maximum obtainable jerk values of the vehicle without causing instability of the vehicle based on the first and second correlations; and

determining from one of the plurality of maximum obtainable acceleration values and one of the plurality of maximum obtainable jerk values an achievable braking control parameter for the vehicle.

9. The method of claim 8, further comprising:

determining a trailer presence from at least one of the first and second parameters; and

updating the first parameter if the trailer is present.

10. The method of claim 8, wherein determining an achievable braking control parameter comprises determining a minimum of the plurality of maximum obtainable acceleration values and a minimum of the plurality of maximum obtainable jerk values.

11. The method of claim 8, wherein determining the second parameter includes determining a coefficient of friction of a surface of the road.

12. The method of claim 8, further comprising determining the first and second correlations in parallel.

13. The method of claim 8, wherein determining at least one of the first and second parameters comprises determining at least one of longitudinal acceleration, lateral acceleration, total load, a coefficient of friction, yaw rate, temperature, and wiper activity.

14. A system for controlling a vehicle operable to tow a trailer, the system comprising:

a first sensor configured to sense first parameters indicative of one or more conditions of the vehicle;

a second sensor configured to sense second parameters indicative of conditions of a road where the vehicle is traveling;

a correlator configured to determine a plurality of correlations, each of the plurality of correlations based on at least one of the first and second parameters;

an acceleration limiter configured to determine a plurality of acceleration values based on the first and second parameters and the plurality of correlations;

a jerk limiter configured to determine a plurality of jerk values based on the first and second vehicle parameters and the plurality of correlations; and

a selector configured to determine a braking control parameter for the vehicle based on one of the plurality of acceleration values and one of the plurality of jerk values.

15. The system of claim 14, further comprising a processor configured to determine a trailer presence from at least one of the first and second parameters, and to update the first parameters if the trailer is present.

16. The system of claim 14, wherein the selector is configured to determine the braking control parameter based on a minimum of the plurality of acceleration values.

17. The system of claim 14, wherein the selector is configured to determine the braking control parameter based on a minimum of the plurality of jerk values.

18. The system of claim 14, wherein the correlator is further configured to determine the first and second correlations in parallel.

19. The system of claim 14, wherein at least one of the first and second parameters comprises at least one of longitudinal acceleration, lateral acceleration, total load, a coefficient of friction, yaw rate, temperature, and wiper activity.

20. A vehicle comprising:

a first sensor configured to sense first parameters indicative of one or more conditions of the vehicle;

a second sensor configured to sense second parameters indicative of one or more conditions of a road where the vehicle is traveling;

a hitch configured to receive a trailer;

a processor configured to determine if a trailer is present on the hitch, and to update the first parameters when a trailer is present;

a correlator configured to determine a plurality of correlations, wherein each of the plurality of correlations is based on at least one of the first and second parameters;

an acceleration limiter configured to determine a plurality of acceleration values based on the first and second parameters and the plurality of correlations;

a jerk limiter configured to determine a plurality of jerk values based on the first and second parameters and the plurality of correlations;

a selector configured to determine a braking control parameter for the vehicle based on one of the plurality of acceleration values and one of the plurality of jerk values; and

a brake system configured to be activated to decelerate the vehicle based on the braking control parameter.

21. The vehicle of claim 20, wherein the selector determines the braking control parameter based on a minimum of the plurality of acceleration values.

22. The vehicle of claim 20, wherein the selector determines the braking control parameter based on a minimum of the plurality of jerk values.

23. The vehicle of claim 20, wherein the correlator is further configured to determine the first and second correlations in parallel.

24. The vehicle of claim 20, wherein at least one of the first and second parameters comprises at least one of longitudinal acceleration, lateral acceleration, total load, a coefficient of friction, yaw rate, temperature, and wiper activity.