Rollover control algorithm

• US 10,562,524 B2
• Filed: 06/29/2017
• Issued: 02/18/2020
• Est. Priority Date: 06/29/2017
• Status: Active Grant

• Current Assignee: NIO Technology Company Limited (Shanghai Anbin Technology Co., Ltd.)
• Original Assignee: Nio Usa Inc.
• Inventors: Swamidason, Sai Maharaja
• Primary Examiner(s): Nguyen, Cuong H
• Application Number:
  US15/637,603
• Publication Number:
  US 20190001966A1
• Time in Patent Office: 964 Days
• Field of Search: 701 36, 701 41, 701 82, 280 551, 280 5507, 340438, 340440
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2030/043 about the roll axis
• CPC Class Codes: B60W 2050/0071 Controller overrides driver automatically
• CPC Class Codes: B60W 2510/20 Steering systems
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2520/28 Wheel speed
• CPC Class Codes: B60W 2540/10 Accelerator pedal position
• CPC Class Codes: B60W 2540/12 Brake pedal position
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 30/04 related to roll-over prevention
• CPC Class Codes: B60W 30/045 Improving turning performance
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence

Abstract

According to one embodiment, a vehicle can be implemented with a drive-by-wire controller which operates subsystems of the vehicle such as throttle, brakes, and steering based on electrical signals from transducers on the vehicle controls and without a direct physical link between the controls, such as the steering wheel, and the components of the corresponding vehicle subsystem. In such cases, the stability control feature of the vehicle can be adapted to detect conditions such as oversteering which can make the vehicle unstable and unsafe and can adjust the steering and other controls of the vehicle to correct the unstable or unsafe condition regardless of the physical input on the steering wheel and other controls.

Claims

1. A method for providing stability and rollover control in a vehicle, the method comprising:

reading, by a drive-by-wire control system of the vehicle, an input signal of one or more transducers, each transducer being coupled with and indicating a physical position of a vehicle control device, the one or more transducers comprising at least a steering wheel transducer and wherein the drive-by-wire control system operates one or more subsystems of the vehicle to control movement of the vehicle based on the input signals of the one or more transducers;

reading, by a stability control system of the vehicle, an input signal from one or more sensors of the vehicle;

calculating, by the stability control system, a rollover potential for the vehicle based on the input signals from the one or more sensors of the vehicle and input from the steering wheel transducer indicating the physical position of the steering wheel or a change in the physical position of the steering wheel;

determining, by the stability control system, whether a rollover condition is present based on the calculated rollover potential; and

in response to determining that the rollover condition is present, overriding, by the stability control system, operation of the one or more subsystems of the vehicle by the drive-by-wire control system to control movement of the vehicle based on the rollover condition.

2. The method of claim 1, further comprising, in response to determining the rollover condition is not present, operating, by the drive-by-wire control systems, the one or more subsystems of the vehicle based on the input signal of the one or more transducers.

3. The method of claim 2, wherein overriding operation of the one or more subsystems of the vehicle by the drive-by-wire control systems to control movement of the vehicle based on the rollover condition further comprises:

selecting, by the stability control system, one or more control parameters for one or more of the subsystems of the vehicle;

adjusting, by the stability control system, the selected one or more control parameters based on the calculated rollover potential;

applying, by the stability control system, the adjusted one or more control parameters to the drive-by-wire control systems; and

operating, the drive-by-wire control systems, the one or more subsystems of the vehicle based on the applied one or more control parameters to control the movement of the vehicle.

4. The method of claim 3, wherein the control parameters comprise at least changes to steering of the vehicle to increase a turning radius of the vehicle and wherein the drive-by-wire control system applies the changes to a steer-by-wire subsystem of the vehicle to increase the turning radius of the vehicle regardless of a physical position of the steering wheel or a change in the physical position of the steering wheel.

5. The method of claim 1, wherein calculating the rollover potential is further based on a radius of a turn of the vehicle.

6. The method of claim 1, wherein the one or more transducers further comprise one or more of a throttle pedal transducer and a brake pedal transducer.

7. The method of claim 1, wherein the one or more sensors comprise a yaw rate sensor, a vehicle speed sensor, or one or more individual wheel speed sensors.

8. A vehicle comprising:

one or more transducers, each transducer coupled with and indicating a physical position of a vehicle control device, the one or more transducers comprising at least a steering wheel transducer;

one or more sensors;

a drive-by-wire control system comprising a processor and a memory coupled with and readable by the processor and storing therein a set of instructions which, when executed by the processor, causes the processor to read an input signal of the one or more transducers and operate one or more subsystems of the vehicle to control movement of the vehicle based on the input signals of the one or more transducers; and

a stability control system comprising a processor and a memory coupled with and readable by the processor and storing therein a set of instructions which, when executed by the processor, causes the processor to read an input signal from the one or more sensors of the vehicle, calculate a rollover potential for the vehicle based on the input signals from the one or more sensors of the vehicle and input from the steering wheel transducer indicating the physical position of the steering wheel or a change in the physical position of the steering wheel, determine whether a rollover condition is present based on the calculated rollover potential, and in response to determining that the rollover condition is present, overriding operation of the one or more subsystems of the vehicle by the drive-by-wire control system to control movement of the vehicle based on the rollover condition.

9. The vehicle of claim 8, wherein the instructions further cause the drive-by-wire control system to operate the one or more subsystems of the vehicle based on the input signal of the one or more transducers in response to determining the rollover condition is not present.

10. The vehicle of claim 9, wherein overriding operation of the one or more subsystems of the vehicle by the drive-by-wire control systems to control movement of the vehicle based on the rollover condition further comprises:

selecting, by the stability control system, one or more control parameters for one or more of the subsystems of the vehicle;

adjusting, by the stability control system, the selected one or more control parameters based on the calculated rollover potential;

applying, by the stability control system, the adjusted one or more control parameters to the drive-by-wire control systems; and

operating, the drive-by-wire control systems, the one or more subsystems of the vehicle based on the applied one or more control parameters to control the movement of the vehicle.

11. The vehicle of claim 10, wherein the control parameters comprise at least changes to steering of the vehicle to increase a turning radius of the vehicle and wherein the drive-by-wire control system applies the changes to a steer-by-wire subsystem of the vehicle to increase the turning radius of the vehicle regardless of a physical position of the steering wheel or a change in the physical position of the steering wheel.

12. The vehicle of claim 8, wherein calculating the rollover potential is further based on a radius of a turn of the vehicle.

13. The vehicle of claim 8, wherein the one or more transducers further comprise one or more of a throttle pedal transducer and a brake pedal transducer.

14. The vehicle of claim 8, wherein the one or more sensors comprise a yaw rate sensor, a vehicle speed sensor, or one or more individual wheel speed sensors.

15. A non-transitory computer-readable medium comprising a set of instructions stored therein which, when executed by the processor, causes the processor to provide stability and rollover control in a vehicle by:

reading, by a drive-by-wire control system of the vehicle, an input signal of one or more transducers, each transducer being coupled with and indicating a physical position of a vehicle control device, the one or more transducers comprising at least a steering wheel transducer and wherein the drive-by-wire control system operates one or more subsystems of the vehicle to control movement of the vehicle based on the input signals of the one or more transducers;

reading, by a stability control system of the vehicle, an input signal from one or more sensors of the vehicle;

calculating, by the stability control system, a rollover potential for the vehicle based on the input signals from the one or more sensors of the vehicle and input from the steering wheel transducer indicating the physical position of the steering wheel or a change in the physical position of the steering wheel;

determining, by the stability control system, whether a rollover condition is present based on the calculated rollover potential; and

in response to determining that the rollover condition is present, overriding, by the stability control system, operation of the one or more subsystems of the vehicle by the drive-by-wire control system to control movement of the vehicle based on the rollover condition.

16. The non-transitory computer-readable medium of claim 15, further comprising, in response to determining the rollover condition is not present, operating, by the drive-by-wire control systems, the one or more subsystems of the vehicle based on the input signal of the one or more transducers.

17. The non-transitory computer-readable medium of claim 16, wherein overriding operation of the one or more subsystems of the vehicle by the drive-by-wire control systems to control movement of the vehicle based on the rollover condition further comprises:

selecting, by the stability control system, one or more control parameters for one or more of the subsystems of the vehicle;

adjusting, by the stability control system, the selected one or more control parameters based on the calculated rollover potential;

applying, by the stability control system, the adjusted one or more control parameters to the drive-by-wire control systems; and

operating, the drive-by-wire control systems, the one or more subsystems of the vehicle based on the applied one or more control parameters to control the movement of the vehicle.

18. The non-transitory computer-readable medium of claim 17, wherein the control parameters comprise at least changes to steering of the vehicle to increase a turning radius of the vehicle and wherein the drive-by-wire control system applies the changes to a steer-by-wire subsystem of the vehicle to increase the turning radius of the vehicle regardless of a physical position of the steering wheel or a change in the physical position of the steering wheel.

19. The non-transitory computer-readable medium of claim 15, wherein calculating the rollover potential is further based on a radius of a turn of the vehicle.

20. The non-transitory computer-readable medium of claim 15, wherein the one or more transducers further comprise one or more of a throttle pedal transducer and a brake pedal transducer and wherein the one or more sensors comprise a yaw rate sensor, a vehicle speed sensor, or one or more individual wheel speed sensors.