Controller for a motor vehicle, motor vehicle, and method for configuring the controller

• US 9,630,600 B2
• Filed: 12/06/2012
• Issued: 04/25/2017
• Est. Priority Date: 12/16/2011
• Status: Active Grant

• Current Assignee: Audi AG (Volkswagen AG)
• Original Assignee: Audi AG (Volkswagen AG)
• Inventors: Obermller, Anron
• Primary Examiner(s): Nguyen, John Q
• Assistant Examiner(s): KERRIGAN, MICHAEL V
• Application Number:
  US14/365,420
• Publication Number:
  US 20140350818A1
• Time in Patent Office: 1,601 Days
• CPC Class Codes: B60T 2230/02 Side slip angle, attitude angle, floating angle, drift angle
• CPC Class Codes: B60T 2260/06 Active Suspension System
• CPC Class Codes: B60T 2260/08 Coordination of integrated systems
• CPC Class Codes: B60T 2270/86 Optimizing braking by using ESP vehicle or tire model
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence
• CPC Class Codes: B60T 8/17551 determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
• CPC Class Codes: B60T 8/17552 responsive to the tire sideslip angle or the vehicle body slip angle

Abstract

A central control entity controls all actuators of a chassis control system of a motor vehicle. To select a combination of actuator operations best suited for influencing the handling of the motor vehicle, the effect of a change of settings of motor vehicle actuators on the handling is predicted by an observer device configured to receive at least one sensor signal from a sensor via a signal input and, depending on the sensor signal, to determine at least one estimated value for a slip resistance of the motor vehicle. The controller is configured by operating the controller in a test motor vehicle that has a sensor for a measured variable, for which the observer device determines an estimated value. The estimated values from the controller are then compared with corresponding measured values.

Claims

1. A controller for a motor vehicle, comprising

an observer device comprising a single-track model of the motor vehicle and a Kalman filter and having a signal input receiving at least one sensor signal from a sensor of the motor vehicle, wherein the at least one sensor signal indicates a yaw rate and a lateral acceleration of the vehicle, said observer device configured to determine, as a function of the at least one received sensor signal, at least one estimated value of a cornering stiffness and an estimated value of a side slip angle of the motor vehicle, said observer device further configured to supply the at least one estimated value of the cornering stiffness and the estimated value of the side slip angle to a signal output of the observer device,

wherein a parameter value of at least one of a measurement noise and a process noise of the observer device is set to a predetermined constant value,

wherein for determining the at least one estimated value of the cornering stiffness and the estimated value of the side slip angle, the observer device is configured to set a value of at least one cornering stiffness parameter of the single-track model as a function of the at least one received sensor signal by controllably adjusting the value of the at least one cornering stiffness parameter by means of the Kalman filter until output variables “

yaw rate” and

“

lateral acceleration”

of the single-track model agree with the actually present values for the yaw rate and lateral acceleration as indicated by the at least one received sensor signal and to then transmit an output variable “

side slip angle”

of the single-track model together with the at least one cornering stiffness parameter to the signal output of the observer device, further comprising a second controller for a “

Global Chassis Control”

that is coupled to the observer device via the signal output, wherein the second controller is configured to define a plurality of desired variables as a function of at least one of the estimated values received via the signal output and to control at least one actuator selected from the group consisting of a superimposed steering, a rear wheel steering, a torque vectoring device, at least one active stabilizer, at least one active damper, a roll stabilizer, a driving intervention controller and a braking intervention controller.

2. The controller of claim 1, wherein desired variables of the plurality of desired variables are selected from at least one of a desired yaw rate, a desired side slip angle and a desired lateral acceleration.

3. A motor vehicle comprising a controller with an observer device having a single-track model of the motor vehicle and a Kalman filter and a signal input receiving at least one sensor signal from a sensor of the motor vehicle, wherein the at least one sensor signal indicates a yaw rate and a lateral acceleration of the vehicle,

said observer device configured to determine, as a function of the at least one received sensor signal, at least one estimated value of a cornering stiffness and an estimated value of a side slip angle of the motor vehicle, and to supply the at least one determined estimated value of the cornering stiffness and the estimated value of the side slip angle to a signal output,

wherein a parameter value of at least one of a measurement noise and a process noise of the observer device is set to a predetermined constant value,

wherein for determining the at least one estimated value of the cornering stiffness and the estimated value of the side slip angle, the observer device is configured to set a value of at least one cornering stiffness parameter as a function of the at least one received sensor signal, by controllably adjusting the value of the at least one cornering stiffness parameter by means of the Kalman filter until output variables “

yaw rate” and

“

lateral acceleration”

of the single-track model agree with the actually present values for the yaw rate and lateral acceleration as indicated by the at least one received sensor signal and to then transmit an output variable “

side slip angle”

of the single-track model together with the at least one cornering stiffness parameter to the signal output of the observer device;

further comprising a second controller for a “

Global Chassis Control”

that is coupled to the observer device via the signal output, wherein the second controller is configured to define a plurality of desired variables as a function of at least one of the estimated values received via the signal output and to control at least one actuator selected from the group consisting of a superimposed steering, a rear wheel steering, a torque vectoring device, at least one active stabilizer, at least one active damper, a roll stabilizer, a driving intervention controller and a braking intervention controller.