Flying car extended vehicle control method

• US 9,889,844 B2
• Filed: 06/24/2015
• Issued: 02/13/2018
• Est. Priority Date: 06/24/2015
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH, Robert Bosch LLC (Robert Bosch GmbH)
• Original Assignee: Robert Bosch GmbH
• Inventors: Mateo Artieda, Jesus M., Scott, Vaughan, Cauley, Celeste M., Sangha, Mandeep Singh
• Primary Examiner(s): Alharbi, Adam
• Application Number:
  US14/748,735
• Publication Number:
  US 20160375896A1
• Time in Patent Office: 965 Days
• CPC Class Codes: B60T 13/66 Electrical control in fluid-pressure brake systems
• CPC Class Codes: B60T 13/662 characterised by specified functions of the control system components
• CPC Class Codes: B60T 2240/06 Wheel load; Wheel lift
• CPC Class Codes: B60T 7/12 for automatic initiation; for initiation not subject to will of driver or passenger limiting speed of vehicles other than rail vehicles B60K31/00
• 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 8/175 Brake regulation specially adapted to prevent excessive wheel spin during vehicle acceleration, e.g. for traction control safety devices for propulsion unit control responsive to, or preventing, skidding of wheels B60K28/16
• 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: B60T 8/17616 Microprocessor-based systems
• CPC Class Codes: B60T 8/58 responsive to speed and another condition or to plural speed conditions
• CPC Class Codes: B60W 10/04 including control of propulsion units
• 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 2520/00 Input parameters relating to overall vehicle dynamics
• CPC Class Codes: B60W 2710/0677 Engine power
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 30/02 Control of vehicle driving stability

Abstract

Systems and methods to adjust the operation of various vehicle control systems to improve performance based on detection of a condition in which the vehicle is in an unloaded or reduced normal force state. In one embodiment, the system includes a vehicle control system, a sensor module, and a controller. The controller is configured to receive sensor values from the sensor module. The controller is further configured to determine vehicle motion characteristics based on the sensor values. The controller is further configured to determine that an unloaded state exists when the values of the vehicle motion characteristics exceed threshold values. The controller is further configured to activate countermeasures when the controller determines that the unloaded state exists.

Claims

1. A system for detecting and correcting for an unloaded vehicle condition, the system comprising:

a vehicle control system; and

a controller configured to

receive, from a sensor module, at least one sensor value;

determine at least one vehicle motion characteristic based on the at least one sensor value;

determine that an unloaded state exists in one or more wheels of the vehicle when a value of the at least one vehicle motion characteristic exceeds a threshold;

activate at least one countermeasure when the controller determines that the unloaded state exists; and

deactivate the countermeasure when a timer expires or when an unstable condition is detected.

2. The system of claim 1, wherein the controller is further configured to deactivate the countermeasure, if the timer is not set, when the value of the at least one vehicle motion characteristic returns to a value that is at or below the threshold.

3. The system of claim 1, wherein the threshold is determined based on at least one system variable.

4. The system of claim 3, wherein the at least one system variable includes at least one selected from a group consisting of a vehicle mode status, a steering angle, a throttle position, a brake pedal indicator, a vehicle speed, and a coefficient of friction.

5. The system of claim 1, wherein the at least one sensor value includes at least one selected from a group consisting of a left front displacement, a right front displacement, a left rear displacement, and a right rear displacement.

6. The system of claim 1, wherein the at least one sensor value includes at least one selected from a group consisting of a normal force on the vehicle and an inertia for the vehicle.

7. The system of claim 1, wherein the at least one vehicle motion characteristic includes at least one selected from a group consisting of vehicle pitch, vehicle roll, vehicle heave, front axle displacement, front axle roll, rear axle displacement, and rear axle roll.

8. The system of claim 1, wherein the at least one countermeasure includes at least one selected from a group consisting of adjusting a control sensitivity of the vehicle control system, adjusting the magnitude of an intervention of the vehicle control system, adjusting the entry point of the vehicle control system, and adjusting the exit point of the vehicle control system.

17. The system of claim 1, wherein the unstable condition includes the vehicle skidding sideways.

9. A method for detecting and correcting for an unloaded vehicle condition, the method comprising:

receiving, by a controller, at least one sensor value;

determining, by the controller, at least one vehicle motion characteristic based on the at least one sensor value;

determining, by the controller, that an unloaded state exists in one or more wheels of the vehicle when a value of the at least one vehicle motion characteristic exceeds a threshold;

activating, by the controller, at least one countermeasure when the controller determines that the unloaded state exists; and

deactivating, by the controller, the countermeasure when a timer expires or when an unstable condition is detected.

10. The method of claim 9, further comprising deactivating, by the controller, the countermeasure, if the timer is not set, when the value of the at least one vehicle motion characteristic returns to a value that is at or below the threshold.

11. The method of claim 9, wherein the threshold is determined based on at least one system variable.

12. The method of claim 11, wherein the at least one system variable includes at least one selected from a group consisting of a vehicle mode status, a steering angle, a throttle position, a brake pedal indicator, a vehicle speed, and a coefficient of friction.

13. The method of claim 9, wherein the at least one sensor value includes at least one selected from a group consisting of a left front displacement, a right front displacement, a left rear displacement, and a right rear displacement.

14. The method of claim 9, wherein the at least one sensor value includes at least one selected from a group consisting of a normal force on the vehicle and an inertia for the vehicle.

15. The method of claim 9, wherein the at least one vehicle motion characteristic includes at least one selected from a group consisting of vehicle pitch, vehicle roll, vehicle heave, front axle displacement, front axle roll, rear axle displacement, and rear axle roll.

16. The method of claim 9, wherein the at least one countermeasure includes at least one selected from a group consisting of adjusting a control sensitivity of the vehicle control system, adjusting the magnitude of an intervention of the vehicle control system, adjusting the entry point of the vehicle control system, and adjusting the exit point of the vehicle control system.

18. The method of claim 9, wherein the unstable condition includes the vehicle skidding sideways.