Method for calculating a desired yaw rate for a vehicle

• US 9,561,803 B2
• Filed: 03/06/2013
• Issued: 02/07/2017
• Est. Priority Date: 03/06/2013
• Status: Active Grant

• Current Assignee: Volvo Truck Corporation (Volvo AB)
• Original Assignee: Volvo Truck Corporation (Volvo AB)
• Inventors: Markkula, Gustav
• Primary Examiner(s): Marc, Mcdieunel
• Assistant Examiner(s): Stroud, James E
• Application Number:
  US14/771,278
• Publication Number:
  US 20160001784A1
• Time in Patent Office: 1,434 Days
• Field of Search: 701/41
• US Class Current: 1/1
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2050/0033 Single-track, 2D vehicle model, i.e. two-wheel bicycle model
• CPC Class Codes: B60W 2050/0075 Automatic parameter input, automatic initialising or calibrating means
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2556/10 Historical data
• CPC Class Codes: B60W 30/02 Control of vehicle driving stability
• CPC Class Codes: B60W 30/045 Improving turning performance
• CPC Class Codes: B60W 30/18 Propelling the vehicle
• CPC Class Codes: B60W 40/114 Yaw movement
• CPC Class Codes: B62D 6/003 in order to control vehicle yaw movement, i.e. around a vertical axis B62D6/007 takes precedence
• CPC Class Codes: B62D 6/005 treating sensor outputs to obtain the actual yaw rate

Abstract

A method is provided for calculating a driver'"'"'s desired yaw rate of a vehicle for use in a vehicle movement control system and includes determining the current yaw rate of the vehicle, determining the rate of the vehicle'"'"'s steering wheel rotation. The method further includes calculating a first desired yaw rate of the vehicle based on the determined current yaw rate of the vehicle and the determined rate of the vehicle'"'"'s steering wheel rotation, the desired yaw rate being further calculated based on the assumption that the driver applies a rate of steering wheel rotation as function of the driver'"'"'s perceived error in yaw rate, and finally the step of providing the first desired yaw rate as an input to the vehicle movement control system for controlling the vehicle.

Claims

1. A method for calculating a driver'"'"'s desired yaw rate of a vehicle for use in a vehicle movement control system, comprising the steps of:

determining, via a computer, the current yaw rate of the vehicle,

determining, via the computer, the rate of the vehicle'"'"'s steering wheel rotation, wherein the method further comprises the steps of;

calculating, via the computer, a first desired yaw rate of the vehicle based on the determined current yaw rate of the vehicle and the determined rate of the vehicle'"'"'s steering wheel rotation, the desired yaw rate being further calculated based on an assumption that the driver applies a rate of steering wheel rotation as function of the driver'"'"'s perceived error in yaw rate, and

providing, via the computer, the first desired yaw rate as an input to the vehicle movement control system for controlling the vehicle.

2. The method according to claim 1, further comprising the step:

calculating a severity of the yaw state of the vehicle.

3. The method according to claim 2, wherein the step of calculating a severity of the yaw state of the vehicle is a calculation based on the absolute rate of the steering wheel rotation.

4. The method according to claim 2, wherein the step of calculating a severity of the yaw state of the vehicle is a calculation based on a deviation between actual yaw rate and desired yaw rate being calculated according to a conventional vehicle dynamics-based estimate such as the linear bicycle model.

5. The method according to claim 2, wherein if the severity is below a first threshold value the method further comprises the steps:

detecting the steering wheel angle and calculating a second desired yaw rate based on the detected steering wheel angle, and

providing the second desired yaw rate instead of the first desired yaw rate as an input to the vehicle movement control system for controlling the vehicle.

6. The method according to claim 2, wherein if the severity is between a first threshold value and a second threshold value the method further comprises the steps:

detecting the steering wheel angle and calculating a second desired yaw rate based on the detected steering wheel angle,

calculating a third desired yaw rate based on the first desired yaw rate and the second desired yaw rate, and

providing the third desired yaw rate instead of the first desired yaw rate as an input to the vehicle movement control system for controlling the vehicle.

7. The method according to claim 6, wherein the step of calculating the third desired yaw rate comprises a weighting function where more weight is given to the first desired yaw rate in higher severity levels, and opposite, more weight is given to the second desired yaw rate in lower severity levels.

8. The method according to claim 1, wherein a parameter (k) is used for scaling the rate of steering wheel rotation when calculating the desired yaw rate.

9. The method according to claim 8, wherein the parameter is a constant system parameter.

10. The method according to claim 8, wherein the parameter may be dynamically adapted to the vehicle'"'"'s driver by observing the driver'"'"'s behavior of steering during normal driving.

11. The method according to claim 1, wherein the vehicle movement control system is an Electronic Stability Control system.

12. The method according to claim 1, wherein the vehicle movement control system is a control system for a steer-by-wire system.

13. A vehicle control system for calculating a driver'"'"'s desired yaw rate of a vehicle for use in a vehicle movement control system, comprising a computer programmed to provide:

determining means for determining the current yaw rate of the vehicle,

determining means for determining the rate of the vehicle'"'"'s steering wheel rotation, and

calculating means for calculating a first desired yaw rate of the vehicle based on the determined current yaw rate of the vehicle and the determined rate of the vehicle'"'"'s steering wheel rotation, the desired yaw rate being further calculated based on the assumption that the driver applies a rate of steering wheel rotation as function of the driver'"'"'s perceived error in yaw rate, and

providing means for providing the first desired yaw rate as an input to the vehicle movement control system for controlling the vehicle.

14. A non-transitory computer-readable storage medium storing a program which causes a computer to execute a control method for calculating a driver'"'"'s desired yaw rate of a vehicle for use in a vehicle movement control system, the method comprising the steps of:

determining, via a computer, the current yaw rate of the vehicle,

determining, via the computer, the rate of the vehicle'"'"'s steering wheel rotation, wherein the method further comprises the steps of;

calculating, via the computer, a first desired yaw rate of the vehicle based on the determined current yaw rate of the vehicle and the determined rate of the vehicles steering wheel rotation, the desired yaw rate being further calculated based on an assumption that the driver applies a rate of steering wheel rotation as function of the driver'"'"'s perceived error in yaw rate, and

providing, via the computer, the first desired yaw rate as an input to the vehicle movement control system for controlling the vehicle.

15. A computer program product comprising a non-transitory computer readable medium having stored thereon computer program means for calculating a driver'"'"'s desired yaw rate of a vehicle for use in a vehicle movement control system, wherein the computer program product comprises:

code for determining the current yaw rate of the vehicle,

code for determining the rate of the vehicle'"'"'s steering wheel rotation,

code for calculating a first desired yaw rate of the vehicle based on the determined current yaw rate of the vehicle and the determined rate of the vehicle'"'"'s steering wheel rotation, the desired yaw rate being further calculated based on an assumption that the driver applies a rate of steering wheel rotation as function of the driver'"'"'s perceived error in yaw rate, and

code for providing the first desired yaw rate as an input to the vehicle movement control system for controlling the vehicle.