Integrated control system for stability control of yaw, roll and lateral motion of a driving vehicle using an integrated sensing system to determine longitudinal velocity
First Claim
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1. A method of controlling a vehicle, the method carried out in a controller on the vehicle and comprising the steps of:
- determining an acceleration-based longitudinal vehicle velocity using at least an input from a vertical accelerometer, a longitudinal acceleration, a yaw rate, a pitch rate, a lateral velocity and a pitch angle in a moving road frame, the pitch angle in a moving road frame being determined in response to a global pitch angle and a relative pitch angle;
determining a wheel speed-based longitudinal velocity from a plurality of wheel speed sensors;
combining the acceleration-based longitudinal velocity and wheel speed based longitudinal velocity to obtain a final longitudinal velocity; and
controlling a vehicle with the final longitudinal velocity.
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Abstract
A method of controlling a vehicle includes determining an acceleration-based longitudinal velocity, determining a wheel speed-based longitudinal velocity from a plurality of wheel speed sensors, combining the acceleration-based longitudinal velocity and the wheel speed-based longitudinal velocity to obtain a final longitudinal velocity and controlling vehicle with the final longitudinal velocity.
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Citations
30 Claims
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1. A method of controlling a vehicle, the method carried out in a controller on the vehicle and comprising the steps of:
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determining an acceleration-based longitudinal vehicle velocity using at least an input from a vertical accelerometer, a longitudinal acceleration, a yaw rate, a pitch rate, a lateral velocity and a pitch angle in a moving road frame, the pitch angle in a moving road frame being determined in response to a global pitch angle and a relative pitch angle; determining a wheel speed-based longitudinal velocity from a plurality of wheel speed sensors; combining the acceleration-based longitudinal velocity and wheel speed based longitudinal velocity to obtain a final longitudinal velocity; and controlling a vehicle with the final longitudinal velocity. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method of controlling a vehicle, the method carried out in a controller on the vehicle and comprising the steps of:
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determining a wheel speed status; determining a drivetrain mode; determining an acceleration-based longitudinal vehicle velocity from lateral, longitudinal and vertical components of a sensed acceleration and in response to the wheel speed status and drivetrain mode; determining a wheel speed-based longitudinal velocity from a plurality of wheel speed sensors; combining the acceleration-based longitudinal velocity and wheel speed based longitudinal velocity to obtain a final longitudinal velocity; and controlling a vehicle with the final longitudinal velocity. - View Dependent Claims (10, 11, 12, 13, 14, 15)
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16. An integrated control system for stability control of yaw, roll and lateral motion of a vehicle having a sensor set including a lateral acceleration sensor, a longitudinal acceleration sensor, a vertical acceleration sensor, and a plurality of wheel speed sensors, the integrated control system comprising:
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a controller; an acceleration-based longitudinal vehicle velocity derived in the controller from lateral, longitudinal and vertical components of a sensed acceleration; a wheel speed-based longitudinal velocity derived in the controller from the plurality of wheel speed sensors; a final longitudinal velocity derived in the controller from a combination of the acceleration-based longitudinal velocity and the wheel speed-based longitudinal velocity, the final longitudinal velocity being used by the controller for stability control. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23, 24)
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25. An integrated control system for stability control of yaw, roll and lateral motion of a vehicle comprising:
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a controller; a plurality of wheel speed sensors for determining a wheel speed status input to the controller, the wheel speed status input, being defined as a wheel speed signal that is a correct indication of longitudinal velocity; a drivetrain mode input to controller that is indicative of a drivetrain mode of the vehicle; an acceleration-based longitudinal vehicle velocity derived in the controller and based on lateral, longitudinal and vertical components of acceleration, wheel speed status input and drivetrain mode input; a wheel speed-based longitudinal velocity derived in the controller from the plurality of wheel speed sensors; a final longitudinal velocity derived in the controller from a combination of the acceleration based longitudinal velocity and the wheel speed-based longitudinal velocity, the final longitudinal velocity being used by the controller for stability control. - View Dependent Claims (26, 27, 28, 29, 30)
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Specification