Trailer sway mitigation using torque vectoring

• US 9,061,663 B2
• Filed: 10/27/2010
• Issued: 06/23/2015
• Est. Priority Date: 10/27/2010
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH, Robert Bosch LLC (Robert Bosch GmbH)
• Original Assignee: Robert Bosch GmbH
• Inventors: Wu, Hsien-Cheng (Kevin)
• Primary Examiner(s): MUSTAFA, IMRAN K
• Application Number:
  US12/913,204
• Publication Number:
  US 20120109471A1
• Time in Patent Office: 1,700 Days
• Field of Search: 701/49, 701/69, 701/70, 701/84
• US Class Current: 1/1
• CPC Class Codes: B60T 2230/06 Tractor-trailer swaying
• CPC Class Codes: B60T 8/1708 for lorries or tractor-trailer combinations
• CPC Class Codes: B60T 8/1755 Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02
• CPC Class Codes: B60W 2300/14 Tractor-trailers, i.e. combinations of a towing vehicle and one or more towed vehicles, e.g. caravans; Road trains
• CPC Class Codes: B60W 2720/14 Yaw
• CPC Class Codes: B60W 2720/22 Articulation angle, e.g. between tractor and trailer
• CPC Class Codes: B60W 2720/406 between left and right wheel
• CPC Class Codes: B60W 30/02 Control of vehicle driving stability

Abstract

A system for stabilizing a sway of a trailer attached to a vehicle. In one embodiment, the system includes a controller, a plurality of sensors in electronic communication with the controller and transmitting sensor data to the controller, a torque vectoring device in electronic communication with the controller, and a computer readable memory storing instructions executed by the controller. The instructions cause the controller to evaluate the sensor data received from the sensors to determine a current vehicle yaw rate, a target vehicle yaw rate, and a yaw rate error of the vehicle. The instructions further cause the controller to determine if the vehicle is traveling in a straight line, to determine a torque distribution signal, and to transmit this signal to the torque vectoring device to stabilize the sway of the trailer without braking the vehicle.

Claims

1. A system for stabilizing a sway of a trailer attached to a vehicle, the system comprising:

a first controller;

a plurality of sensors in electronic communication with the first controller, each of the sensors transmitting sensor data to the first controller;

a first non-transitory computer readable memory storing instructions that, when executed by the first controller, cause the first controller to;

evaluate the sensor data received from the sensors to determine a current vehicle yaw rate, a target vehicle yaw rate, and a yaw rate error of the vehicle,

determine if the vehicle is traveling in a straight line,

determine a torque distribution signal, wherein the torque distribution signal indicates an increased torque to be applied to a first rear wheel of the vehicle when the current vehicle yaw rate exceeds the target vehicle yaw rate and indicates an increased torque to be applied to a second rear wheel when the target vehicle yaw rate exceeds the current vehicle yaw rate, and

transmit the torque distribution signal to a torque vectoring device; and

the torque vectoring device, wherein the torque vectoring device is configured to stabilize the sway of the trailer without braking the vehicle and includes

a second controller in electronic communication with the first controller, and

a second non-transitory computer readable memory storing instructions that, when executed by the second controller, cause the second controller to;

apply torque to the first rear wheel and the second rear wheel based on the torque distribution signal, and

request additional compensatory torque from a vehicle engine based on the torque distribution signal and an amount of torque that is currently available in the first rear wheel and the second rear wheel of the vehicle.

2. The system of claim 1, wherein the first non-transitory computer readable memory further stores instructions, when executed by the first controller, determines the current vehicle yaw rate and the target vehicle yaw rate.

3. The system of claim 1 further comprising a first summing node circuit that calculates a difference between the target vehicle yaw rate and current vehicle yaw rate, and determines the yaw rate error.

4. The system of claim 1 further comprising a band-pass filter that filters the yaw rate error to determine an actual trailer yaw rate.

5. The system of claim 4 further comprising a second summing node circuit that determines an asymmetric controller signal by using the actual trailer yaw rate and a trailer target yaw rate.

6. The system of claim 5 further comprising a proportional integral derivative controller that receives the asymmetric controller signal and outputs the torque distribution signal to the torque vectoring device.

7. The system of claim 1, wherein the torque distribution signal includes information about a compensatory wheel torque that the torque vectoring device distributes to one or more vehicle wheels to stabilize the sway of the trailer.

8. The system of claim 1, wherein the torque vectoring device sends a compensatory wheel torque request to a controllable four-wheel drive coupling device based on the torque distribution signal.

9. The system of claim 8, wherein a compensatory wheel torque is generated by an engine and is transferred to the torque vectoring device by the controllable four-wheel drive coupling device.

20. The system of claim 1, wherein the torque vectoring device is configured to transmit a request for the additional compensatory torque from the vehicle engine and to apply the increased torque to the first rear wheel of the vehicle by applying the additional compensatory torque to the first rear wheel of the vehicle.

21. The system of claim 1, wherein the torque vectoring device is configured to apply the increased torque to the first rear wheel by transferring torque from the second rear wheel to the first rear wheel of the vehicle.

22. The system of claim 21, wherein the torque vectoring device is configured to transmit a request for the additional compensatory torque from the vehicle engine when the torque transferred from the second rear wheel to the first rear wheel is insufficient to generate the increased torque on the first rear wheel in accordance with the torque distribution signal and to apply the increased torque to the first rear wheel of the vehicle by applying the additional compensatory torque and the torque transferred from the second rear wheel to the first rear wheel of the vehicle.

10. A method for stabilizing a sway of a trailer attached to a vehicle, the method comprising:

receiving sensor data from a plurality of sensors at a controller;

evaluating the sensor data received from the sensors;

determining a current vehicle yaw rate, a target vehicle yaw rate, and a yaw rate error of the vehicle;

determining if the vehicle is traveling in a straight line;

determining a torque distribution signal;

transmitting the torque distribution signal to a torque vectoring device; and

stabilizing the sway of the trailer without braking the vehicle, based on the torque distribution signal received by the torque vectoring device, by

applying an increased torque to a first rear wheel of the vehicle when the current vehicle yaw rate exceeds the target vehicle yaw rate,

applying an increased torque to a second rear wheel of the vehicle when the target vehicle yaw rate exceeds the current vehicle yaw rate, and

requesting additional compensatory torque from a vehicle engine based in part on the torque distribution signal and an amount of torque that is currently available in the first rear wheel and the second rear wheel of the vehicle.

11. The method of claim 10, wherein determining the current vehicle yaw rate and the target vehicle yaw rate further includes executing a software module and determining the yaw rate error further includes executing a first summing node circuit.

12. The method of claim 10, further comprising determining an actual yaw rate of the trailer by using a band-pass filter to filter the yaw rate error.

13. The method of claim 12, further comprising determining an asymmetric controller signal by using a second summing node circuit that inputs the actual trailer yaw rate and a trailer target yaw rate.

14. The method of claim 10, further comprising providing information about a compensatory wheel torque that the torque vectoring device distributes to one or more vehicle wheels to stabilize the sway of the trailer, wherein this information is included in the torque distribution signal.

15. The method of claim 14, further comprising distributing the compensatory wheel torque to a left back wheel, a right back wheel, or to both back wheels.

16. The method of claim 14, further comprising transferring the compensatory wheel torque from the right back wheel to the left back wheel.

17. The method of claim 14, further comprising transferring the compensatory wheel torque from the left back wheel to the right back wheel.

18. The method of claim 10, further comprising sending a compensatory wheel torque request to a controllable four-wheel drive coupling device based on the torque distribution signal.

19. The method of claim 18, further comprising generating a compensatory wheel torque by an engine and transferring the compensatory wheel torque to the torque vectoring device by the controllable four-wheel drive coupling device.

23. The method of claim 10, further comprising transmitting a request for the additional compensatory torque from the vehicle engine, and wherein the torque vectoring device applies the increased torque to the first rear wheel of the vehicle by applying the additional compensatory torque to the first rear wheel of the vehicle.

24. The method of claim 10, wherein the torque vectoring device applies the increased torque to the first rear wheel of the vehicle by transferring torque from the second rear wheel to the first rear wheel of the vehicle.

25. The method of claim 24, further comprising transmitting a request for the additional compensatory torque from the vehicle engine when the torque transferred from the second rear wheel to the first rear wheel is insufficient to generate the increased torque on the first rear wheel in accordance with the torque distribution signal, and wherein the torque vectoring device applies the increased torque to the first rear wheel of the vehicle by applying the additional compensatory torque and the torque transferred from the second rear wheel to the first rear wheel of the vehicle.

26. A method for stabilizing sway of a trailer attached to a vehicle, the method comprising:

determining an actual yaw rate and a target yaw rate;

determining a torque distribution signal based on the actual yaw rate and the target yaw rate;

transferring torque from a left rear wheel of the vehicle to a right rear wheel of the vehicle based on the torque distribution signal when the actual yaw rate exceeds the target yaw rate and the vehicle is turning left;

transferring torque from the right rear wheel of the vehicle to the left rear wheel of the vehicle based on the torque distribution signal when the target yaw rate exceeds the actual yaw rate and the vehicle is turning left;

transferring torque from the right rear wheel of the vehicle to the left rear wheel of the vehicle based on the torque distribution signal when the actual yaw rate exceeds the target yaw rate and the vehicle is turning right;

transferring torque from the left rear wheel of the vehicle to the right rear wheel of the vehicle based on the torque distribution signal when the target yaw rate exceeds the actual yaw rate and the vehicle is turning right; and

requesting additional compensatory torque from a vehicle engine based in part on the torque distribution signal and an amount of torque that is currently available in the first rear wheel and the second rear wheel of the vehicle.