Integrated control system for stability control of yaw, roll and lateral motion of a driving vehicle using an integrated sensing system to determine lateral velocity

• US 8,321,088 B2
• Filed: 08/30/2006
• Issued: 11/27/2012
• Est. Priority Date: 08/30/2006
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Brown, Todd, Meyers, Joseph C., Lu, Jianbo
• Primary Examiner(s): Tarcza, Thomas
• Assistant Examiner(s): PIPALA, EDWARD J
• Application Number:
  US11/468,508
• Publication Number:
  US 20080082246A1
• Time in Patent Office: 2,281 Days
• Field of Search: 701/1, 701/36, 701/37, 701/38, 701/39, 701/41, 701/42, 701/43, 701 70- 72, 701/74, 701/82, 701 90- 91, 701/200, 701/205, 701/208, 180/271, 180/170, 180/197, 180/282, 340/425.5, 340/429, 340/438, 340/439, 340/440, 340/442
• US Class Current: 701/38
• CPC Class Codes: B60T 2210/22 Banked curves
• CPC Class Codes: B60T 2230/02 Side slip angle, attitude angle, floating angle, drift angle
• CPC Class Codes: B60T 8/17552 responsive to the tire sideslip angle or the vehicle body slip angle
• CPC Class Codes: B60W 2050/0029 Mathematical model of the driver
• CPC Class Codes: B60W 2050/0033 Single-track, 2D vehicle model, i.e. two-wheel bicycle model
• CPC Class Codes: B60W 2050/0035 Multiple-track, 3D vehicle model, e.g. including roll and pitch conditions
• CPC Class Codes: B60W 2050/0036 Multiple-track, 3D multi-body vehicle model, e.g. combination of models for vehicle sub-units
• CPC Class Codes: B60W 2050/0094 of control units
• CPC Class Codes: B60W 30/04 related to roll-over prevention
• CPC Class Codes: B60W 30/045 Improving turning performance
• CPC Class Codes: B60W 40/06 Road conditions
• CPC Class Codes: B60W 40/103 Side slip angle of vehicle body
• CPC Class Codes: B60W 50/035 Bringing the control units into a predefined state, e.g. giving priority to particular actuators

Abstract

A method of controlling a vehicle includes determining a lateral tire force, a front lateral tire force, a rear lateral tire force, and determining a linear sideslip angle from the front lateral tire force and the rear lateral tire force. The method further includes determining a linear lateral velocity in response to the linear sideslip angle and controlling the vehicle in response to the linear sideslip angle.

Claims

1. A method of controlling a vehicle system, the method comprising the steps of:

determining a front lateral tire force from sensor information;

determining a rear lateral tire force from sensor information;

determining a linear sideslip angle from the front lateral tire force and the rear lateral tire force;

determining a road constraint alignment;

determining a linear lateral velocity constraint in response to the linear sideslip angle and the road constraint alignment; and

controlling the vehicle system using the linear lateral velocity as a control signal input to the vehicle system.

2. A method as recited in claim 1 further comprising determining a longitudinal kinematics constraint and determining the linear lateral velocity constraint in response to the linear sideslip angle and the longitudinal kinematics constraint.

3. A method as recited in claim 1 further comprising determining the longitudinal kinematics constraint in response to a longitudinal velocity, a yaw rate and a longitudinal acceleration.

4. A method as recited in claim 1 further comprising determining the road constraint alignment in response to a longitudinal velocity, a pitch rate and a roll rate.

5. A method as recited in claim 1 further comprising determining a lateral velocity error due to longitudinal velocity error.

6. A method as recited in claim 1 further comprising determining a lateral velocity error due to an augmented acceleration.

7. A method as recited in claim 6 wherein the augmented acceleration comprises a lateral augmented acceleration error.

8. A method as recited in claim 7 wherein the lateral augmented acceleration error is determined in response to an attitude error.

9. A method as recited in claim 8 wherein the attitude error comprises a pitch angle error.

10. A method as recited in claim 8 wherein the attitude error comprises a roll angle error.

11. A method as recited in claim 6 wherein the augmented acceleration comprises a longitudinal augmented acceleration error.

12. A method as recited in claim 11 wherein the longitudinal augmented acceleration error is determined in response to an attitude error.

13. A method as recited in claim 12 wherein the attitude error comprises a pitch angle error.

14. A method as recited in claim 6 wherein the augmented acceleration comprises a vertical augmented acceleration error.

15. A method as recited in claim 14 wherein the vertical augmented acceleration error is determined in response to an attitude error.

16. A method as recited in claim 15 wherein the attitude error comprises a pitch angle error.

17. A method as recited in claim 15 wherein the attitude error comprises a roll angle error.

18. A method of controlling a vehicle system, the method comprising the steps of

determining a yaw rate from a yaw rate sensor;

determining a pitch rate from pitch rate sensor;

determining a roll rate from a roll rate sensor;

determining a lateral acceleration from a lateral acceleration sensor;

determining a vertical acceleration from a vertical acceleration sensor;

determining a front lateral tire force in response to the yaw rate, pitch rate, roll rate, lateral acceleration and vertical acceleration;

determining a rear lateral tire force in response to the yaw rate, pitch rate, roll rate, lateral acceleration and vertical acceleration;

determining a linear sideslip angle from the front lateral tire force and the rear lateral tire force;

determining a road constraint alignment

determining a linear lateral velocity in response to the linear sideslip angle and the road constraint alignment; and

controlling the vehicle system using the linear lateral velocity as a control signal input to the vehicle system.

19. A method as recited in claim 18 further comprising determining a roll moment of inertia and wherein determining a front lateral tire force comprises determining the front lateral tire force in response to the yaw rate, pitch rate, roll rate, lateral acceleration, vertical acceleration and roll inertia.

20. A method as recited in claim 18 further comprising determining a roll moment of inertia and wherein determining a rear lateral tire force comprises determining the rear lateral tire force in response to the yaw rate, pitch rate, roll rate, lateral acceleration, vertical acceleration and roll inertia.

21. A method as recited in claim 18 further comprising determining a pitch moment of inertia and wherein determining a front lateral tire force comprises determining the front lateral tire force in response to the yaw rate, pitch rate, roll rate, lateral acceleration, vertical acceleration and pitch inertia.

22. A method as recited in claim 18 further comprising determining a pitch moment of inertia and wherein determining a rear lateral tire force comprises determining the rear lateral tire force in response to the yaw rate, pitch rate, roll rate, lateral acceleration, vertical acceleration and pitch inertia.