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System and method for independently controlling wheel slip and vehicle acceleration

  • US 9,988,026 B2
  • Filed: 12/22/2015
  • Issued: 06/05/2018
  • Est. Priority Date: 12/22/2015
  • Status: Active Grant
First Claim
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1. A system for real time control of a wheel slip of each one of a pair of wheels associated with a first axle of a motor vehicle, simultaneously and independently with real time explicit control of an acceleration of said motor vehicle provided by each non-slipping one of the pair of wheels, the system comprising:

  • a coordinated wheel controller (CWC) subsystem having;

    a first total controller associated with the first axle of the vehicle for generating a torque signal (TTC) used to control total dynamics of the first axle; and

    a first asymmetric controller associated with the first axle, which is operable to generate another torque signal (TAC) to control asymmetric dynamics of the first axle;

    the first total controller and the first asymmetric controller each further configured to include;

    a wheel slip feedback control mode; and

    a feed forward control mode;

    the feed forward control mode enabling the controllers to induce changes in a specific wheel'"'"'s surface torque (TS), and therefore influence vehicle acceleration;

    the first total controller and the first asymmetric controller each further configured to detect a real time operating condition of each said wheel which includes a wheel slip condition and a wheel non-slip condition, and to augment the respective wheel slip feedback control mode and the feed forward control mode associated with each said controller, the augmentation being based on the detected operating condition of each said wheel and a pre-defined table of conditions; and

    a distributor subsystem used for generating a drive torque target (TD) if a drive train of the motor vehicle is associated with the first axle and the torque signal is controllable, and further generating a brake torque target for a left wheel (TBL) and a brake torque target for a right wheel (TBR) associated with the first axle, in response to the torque signal (TTC) and the another torque signal (TAC) of the CWC subsystem and in a manner such that the following equations are satisfied;

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