Method and apparatus for vehicle sway detection and reduction
First Claim
1. A method of determining whether a vehicle is undergoing sway, comprising:
- A. sensing yaw acceleration of a moving vehicle by way of a sensor and providing a yaw acceleration output;
B. sensing lateral acceleration of the moving vehicle with a sensor and providing a lateral acceleration signal;
C. determining whether there is a phase shift of the yaw acceleration signal relative to the lateral acceleration signal;
D. calculating the magnitude of the phase shift determined in step C; and
E. comparing the magnitude of the phase shift with a threshold value to determine whether the vehicle is undergoing sway.
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Accused Products
Abstract
A method and apparatus for controlling a vehicle involves determining if the vehicle is swaying and if the vehicle is swaying, reducing a torque of an engine of the vehicle and/or applying independent braking forces to each wheel of the vehicle. A vehicle for controlling vehicle sway includes an engine, a plurality of wheels, a braking system configured to apply independent braking forces to each wheel, and a controller configured to control the engine and the braking system. The controller is configured to determine a correlation coefficient in accordance with any phase shift occurring between a yaw acceleration signal and a lateral acceleration signal. The correlation coefficient is compared to a threshold value to determine whether the vehicle is swaying. If the vehicle is swaying, the controller causes a torque of the engine to be reduced and/or braking forces to be applied independently to each wheel.
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Citations
14 Claims
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1. A method of determining whether a vehicle is undergoing sway, comprising:
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A. sensing yaw acceleration of a moving vehicle by way of a sensor and providing a yaw acceleration output; B. sensing lateral acceleration of the moving vehicle with a sensor and providing a lateral acceleration signal; C. determining whether there is a phase shift of the yaw acceleration signal relative to the lateral acceleration signal; D. calculating the magnitude of the phase shift determined in step C; and E. comparing the magnitude of the phase shift with a threshold value to determine whether the vehicle is undergoing sway. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 14)
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12. A vehicle, comprising:
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an engine; a plurality of wheels; a braking system configured to apply independent braking forces to each wheel; sensors which sense yaw acceleration and lateral acceleration of the vehicle while moving to provide a yaw acceleration signal and a lateral acceleration signal; and a controller operably connected to the engine and the braking system and configured to; determine whether there is a phase shift of the yaw acceleration signal relative to the lateral acceleration signal; calculate the magnitude of a phase shift which is determined; compare the magnitude of the phase shift with a threshold value to determine whether the vehicle is undergoing sway; and if the vehicle is undergoing sway, perform at least one of;
reducing a torque of the engine and applying a braking force independently to each wheel.
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13. A non-transitory tangible computer readable medium which stores a control program for determining whether vehicle sway exists and effecting a control to reduce the vehicle sway in a vehicle which includes an engine, a plurality of wheels, sensors which sense yaw acceleration and lateral acceleration of the vehicle while moving to provide a yaw acceleration signal and a lateral acceleration signal;
- the control program enabling a computer to execute a control comprising;
determining whether there exists a phase shift of the yaw acceleration signal relative to the lateral acceleration signal; calculating, when a phase shift is determined to exist, a magnitude of the phase shift; determining if the vehicle is undergoing sway by comparing the magnitude of the phase shift with a threshold value; and reducing a torque of the engine and/or applying a braking force independently to one or more of the wheels by the brake system when it is determined that the vehicle is undergoing sway.
- the control program enabling a computer to execute a control comprising;
Specification