System and method for dynamically determining vehicle loading and vertical loading distance for use in a vehicle dynamic control system

• US 20060085112A1
• Filed: 10/15/2004
• Published: 04/20/2006
• Est. Priority Date: 10/15/2004
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Messih, David, Lu, Jianbo, Mattson, Keith, Chubb, Erik, Salib, Albert
• Granted Patent: US 7,668,645 B2
• Time in Patent Office: Days
• US Class Current: 701/38
• CPC Class Codes: B60G 17/016 characterised by their responsiveness, when the vehicle is travelling, to specific motion, a specific condition, or driver input B60G17/017 takes precedence
• CPC Class Codes: B60G 2400/61 Load distribution
• CPC Class Codes: B60G 2800/0124 Roll-over conditions
• CPC Class Codes: B60G 2800/0194 transversal with regard to vehicle
• CPC Class Codes: B60G 2800/915 Suspension load distribution
• CPC Class Codes: B60R 2021/0018 Roll-over
• CPC Class Codes: B60R 21/0132 responsive to vehicle motion parameters , e.g. to vehicle longitudinal or transversal deceleration or speed value
• CPC Class Codes: B60T 2230/03 Overturn, rollover
• CPC Class Codes: B60T 2250/02 Vehicle mass
• 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 8/24 responsive to vehicle inclination or change of direction, e.g. negotiating bends using electrical circuitry or regulation means B60T8/17
• CPC Class Codes: B60T 8/241 Lateral vehicle inclination
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/22 including control of suspension systems
• CPC Class Codes: B60W 2520/18 Roll
• CPC Class Codes: B60W 2552/15 Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 2720/18 Roll
• CPC Class Codes: B60W 30/04 related to roll-over prevention
• CPC Class Codes: B60W 40/072 Curvature of the road
• CPC Class Codes: B60W 40/076 Slope angle of the road
• CPC Class Codes: B60W 40/10 : related to vehicle motion
• CPC Class Codes: B60W 40/13 : Load or weight

Abstract

A control system (18) and method for an automotive vehicle (10) includes a roll rate sensor (34) generating a roll rate signal, a lateral acceleration sensor (32) generating a lateral acceleration signal, a longitudinal acceleration sensor (36) generating a longitudinal acceleration signal, and a yaw rate sensor (28) generating a yaw rate signal. A safety system (44) and the sensors are coupled to a controller. The controller (26) determines an added mass and the height of the added mass or a roll gradient, a roll acceleration coefficient and/or a roll rate parameter that take into account the added mass and height from the roll rate, the lateral acceleration, the longitudinal acceleration, and the yaw rate and controlling the safety system in response thereto.

Claims

1. A method of controlling a safety system for a vehicle comprising:

determining an adaptive roll gradient; and

controlling the safety system in response to the adaptive roll gradient.

2. A method as recited in claim 1 wherein determining an adaptive roll gradient comprises determining the adaptive roll gradient from a roll rate sensor.

3. A method as recited in claim 1 wherein controlling the safety system comprises controlling a roll stability control system.

4. A method as recited in claim 1 wherein determining an adaptive roll gradient comprises determining the adaptive roll gradient in response to a lateral acceleration signal.

5. A method as recited in claim 1 wherein determining an adaptive roll gradient comprises determining the adaptive roll gradient in response to a lateral acceleration signal and a roll acceleration.

6. A method as recited in claim 1 wherein determining an adaptive roll gradient comprises determining the adaptive roll gradient in response to a lateral acceleration signal, a longitudinal acceleration signal and a roll acceleration.

7. A method as recited in claim 1 wherein determining an adaptive roll gradient comprises determining the adaptive roll gradient in response to a lateral acceleration signal, longitudinal acceleration, a roll acceleration, a yaw rate and a roll rate.

8. A method as recited in claim 1 wherein controlling the safety system comprises adaptively adjusting a roll angle determination in response to the adaptive roll gradient.

9. A method as recited in claim 1 wherein controlling the safety system comprises adjusting control gains in response to the adaptive roll gradient.

10. A method as recited in claim 1 further comprising determining a roll acceleration coefficient and wherein controlling comprises controlling the safety system in response to the adaptive roll gradient and the roll acceleration coefficient.

11. A method as recited in claim 10 wherein the roll acceleration coefficient is adaptively determined.

12. A method as recited in claim 10 wherein determining a roll acceleration coefficient comprises determining the roll acceleration coefficient from a roll rate sensor.

13. A method as recited in claim 10 wherein determining a roll acceleration coefficient comprises determining the roll acceleration coefficient in response to a lateral acceleration signal.

14. A method as recited in claim 10 wherein determining a roll acceleration coefficient comprises determining the roll acceleration coefficient in response to a lateral acceleration signal and a roll acceleration.

15. A method as recited in claim 10 wherein determining a roll acceleration coefficient comprises determining the roll acceleration coefficient in response to a lateral acceleration signal, a longitudinal acceleration signal and a roll acceleration.

16. A method as recited in claim 10 wherein determining a roll acceleration coefficient comprises determining the roll acceleration coefficient in response to a lateral acceleration signal, longitudinal acceleration, a roll acceleration, a yaw rate and a roll rate.

17. A method as recited in claim 10 further comprising determining a roll rate coefficient and wherein controlling comprises controlling the safety system in response to the adaptive roll gradient, a roll acceleration coefficient and the roll rate coefficient.

18. A method as recited in claim 17 wherein determining a roll rate coefficient comprises adaptively determining a roll rate coefficient.

19. A method as recited in claim 17 wherein determining a roll rate coefficient comprises determining the roll rate coefficient as a function of vehicle roll stiffness and roll damping.

20. A method as recited in claim 17 wherein determining a roll rate coefficient comprises determining the roll rate coefficient as a function of a suspension damper.

21. A method as recited in claim 1 further comprising determining a roll rate coefficient and wherein controlling comprises controlling the safety system in response to the adaptive roll gradient and the roll rate coefficient.

22. A method as recited in claim 21 wherein determining a roll rate coefficient comprises adaptively determining a roll rate coefficient.

23. A method as recited in claim 21 wherein determining a roll rate coefficient comprises determining the roll rate coefficient as a function of vehicle roll stiffness and roll damping.

24. A method as recited in claim 21 wherein determining a roll rate coefficient comprises determining the roll rate coefficient as a function of a suspension damper.

25. A method of controlling a safety system for a vehicle comprising:

determining an adaptive roll acceleration coefficient; and

controlling the safety system in response to the adaptive roll acceleration coefficient.

26. A method as recited in claim 25 wherein determining an adaptive roll acceleration coefficient comprises determining the adaptive roll acceleration coefficient from a roll rate sensor.

27. A method as recited in claim 26 wherein determining an adaptive roll acceleration coefficient comprises determining the adaptive roll acceleration coefficient in response to a lateral acceleration signal.

28. A method as recited in claim 27 wherein determining an adaptive roll acceleration coefficient comprises determining the roll acceleration coefficient in response to a lateral acceleration signal and a roll acceleration.

29. A method as recited in claim 28 wherein determining an adaptive roll acceleration coefficient comprises determining the roll acceleration coefficient in response to a lateral acceleration signal, a longitudinal acceleration signal and a roll acceleration.

30. A method as recited in claim 25 wherein determining an adaptive roll acceleration coefficient comprises determining the roll acceleration coefficient in response to a lateral acceleration signal, longitudinal acceleration, a roll acceleration, a yaw rate and a roll rate.

31. A method as recited in claim 25 further comprising determining a roll rate coefficient and wherein controlling comprises controlling the safety system in response to the adaptive roll acceleration coefficient and the roll rate coefficient.

32. A method as recited in claim 31 wherein determining a roll rate coefficient comprises adaptively determining a roll rate coefficient.

33. A method as recited in claim 31 wherein determining a roll rate coefficient comprises determining the roll rate coefficient as a function of vehicle roll stiffness and roll damping.

34. A method as recited in claim 31 wherein determining a roll rate coefficient comprises determining the roll rate coefficient as a function of a suspension damper.

35. A method as recited in claim 25 wherein controlling the safety system comprises controlling a roll stability control system.

36. A method as recited in claim 25 wherein controlling the safety system comprises adaptively adjusting a roll angle determination in response to the adaptive roll acceleration coefficient.

37. A method as recited in claim 25 wherein controlling the safety system comprises adjusting control gains in response to the adaptive roll acceleration coefficient.

38. A method of controlling a safety system for a vehicle comprising:

determining an adaptive roll rate coefficient; and

controlling the safety system in response to the adaptive roll rate coefficient.

39. A method as recited in claim 38 wherein determining an adaptive roll rate coefficient comprises determining the roll rate coefficient as a function of vehicle roll stiffness and roll damping.

40. A method as recited in claim 38 wherein determining an adaptive roll rate coefficient comprises determining the roll rate coefficient as a function of a suspension damper.

41. A method as recited in claim 38 wherein controlling the safety system comprises controlling a roll stability control system.

42. A method as recited in claim 38 wherein controlling the safety system comprises adaptively adjusting a roll angle determination in response to the adaptive roll rate coefficient.

43. A method as recited in claim 38 wherein controlling the safety system comprises adjusting control gains in response to the adaptive roll rate coefficient.

44. A method of controlling a safety system for a vehicle comprising:

generating a roll rate signal indicative of a roll rate of the vehicle;

determining an added mass in response to the roll rate signal; and

controlling the safety system in response to the added mass.

45. A method as recited in claim 44 further comprising determining a lateral acceleration and wherein determining an added mass comprises determining the added mass in response to the roll rate signal and the lateral acceleration.

46. A method as recited in claim 44 further comprising determining a lateral acceleration, a longitudinal acceleration and a yaw rate and wherein determining an added mass comprises determining an added mass in response to the roll rate signal and the lateral acceleration, the longitudinal acceleration and the yaw rate.

47. A method as recited in claim 44 further comprising determining a height of the added mass and wherein controlling comprises controlling the safety system in response to the added mass and the height of the added mass.

48. A method as recited in claim 47 further comprising determining a lateral acceleration and wherein determining a height of an added mass comprises determining the height of the added mass in response to the roll rate signal and the lateral acceleration.

49. A method as recited in claim 47 further comprising determining a lateral acceleration, a longitudinal acceleration and a yaw rate and wherein determining a height of an added mass comprises determining a height of the added mass in response to the roll rate signal and the lateral acceleration, a longitudinal acceleration and a yaw rate.

50. A method as recited in claim 47 wherein controlling the safety system comprises adaptively adjusting a roll angle determination in response to the added mass and the height of the added mass.

51. A method as recited in claim 47 wherein controlling the safety system comprises adjusting control gains in response to the added mass and the height of the added mass.

52. A method as recited in claim 47 wherein the height of the added mass comprises the height of the center of gravity of the vehicle including the added mass.

53. A method as recited in claim 44 further comprising determining a roll moment of inertia of the vehicle body with the added mass and wherein controlling comprises controlling the safety system in response to the roll inertia of moment including the contribution from the added mass.

54. A method as recited in claim 44 further comprising determining a roll inertia of moment of the vehicle and the added mass and wherein controlling comprises controlling the safety system in response to the roll inertia of moment of the vehicle and the added mass.

55. A method as recited in claim 44 wherein controlling the safety system comprises controlling a roll stability control system.

56. A method as recited in claim 44 wherein controlling the safety system comprises adaptively adjusting a roll angle determination in response to the added mass.

57. A method as recited in claim 44 wherein controlling the safety system comprises adjusting control gains in response to the added mass.

58. A method of controlling a safety system for a vehicle comprising:

generating a roll rate signal indicative of a roll rate of the vehicle;

determining a height of an added mass in response to the roll rate signal; and

controlling the safety system in response to the height of the added mass.

59. A method as recited in claim 58 wherein the height of the added mass comprises the height of the center of gravity of the vehicle including the added mass.

60. A method as recited in claim 58 wherein controlling the safety system comprises controlling a roll stability control system.

61. A method as recited in claim 58 wherein controlling the safety system comprises adaptively adjusting a roll angle determination in response to the height of the added mass.

62. A method as recited in claim 58 wherein controlling the safety system comprises adjusting control gains in response to the height of the added mass.

63. A method of controlling a safety system for a vehicle comprising:

determining a roll gradient;

determining a roll acceleration coefficient;

determining an added mass and a height of the added mass from the roll gradient and the roll acceleration coefficient; and

controlling the safety system in response to the added mass and height.

64. A method as recited in claim 63 wherein determining a roll gradient comprises determining a roll gradient from a roll rate sensor.

65. A method as recited in claim 63 wherein determining a roll acceleration coefficient comprises determining a roll acceleration coefficient from a roll rate sensor.

66. A method as recited in claim 63 wherein the height corresponds to a change in a center of gravity position.

67. A method as recited in claim 63 wherein controlling the safety system comprises controlling a roll stability control system.

68. A method as recited in claim 63 wherein determining a roll gradient comprises determining the roll gradient in response to a lateral acceleration signal.

69. A method as recited in claim 63 wherein determining a roll gradient comprises determining the roll gradient in response to a lateral acceleration signal and a roll acceleration.

70. A method as recited in claim 63 wherein determining a roll gradient comprises determining the roll gradient in response to a lateral acceleration signal, a longitudinal acceleration signal and a roll acceleration.

71. A method as recited in claim 63 wherein determining a roll gradient comprises determining the roll gradient in response to a lateral acceleration signal, longitudinal acceleration, a roll acceleration, and a yaw rate

72. A method as recited in claim 63 wherein determining a roll gradient comprises determining the roll gradient in response to a lateral acceleration signal, longitudinal acceleration, a roll acceleration, a yaw rate and a roll rate.

73. A method as recited in claim 63 wherein determining a roll acceleration coefficient comprises determining the roll acceleration coefficient in response to a lateral acceleration signal.

74. A method as recited in claim 63 wherein determining a roll acceleration coefficient comprises determining the roll acceleration coefficient in response to a lateral acceleration signal and a roll acceleration.

75. A method as recited in claim 63 wherein determining a roll acceleration coefficient comprises determining the roll acceleration coefficient in response to a lateral acceleration signal, a longitudinal acceleration signal and a roll acceleration.

76. A method as recited in claim 63 wherein determining a roll acceleration coefficient comprises determining the roll acceleration coefficient in response to a lateral acceleration signal, longitudinal acceleration, a roll acceleration and a yaw rate.

77. A method as recited in claim 63 wherein determining a roll acceleration coefficient comprises determining the roll acceleration coefficient in response to a lateral acceleration signal, longitudinal acceleration, a roll acceleration, a yaw rate and a roll rate.

78. A method as recited in claim 63 further comprising determining a roll rate parameter.

79. A method as recited in claim 63 wherein determining a roll rate parameter comprises determining the roll rate parameter as a function of vehicle roll stiffness and roll damping.

80. A method as recited in claim 63 wherein determining a roll rate parameter comprises determining the roll rate parameter as a function of a suspension damper.

81. A method for controlling a safety system for a vehicle comprising:

determining a roll rate;

determining a lateral acceleration;

determining a longitudinal acceleration;

determining a yaw rate;

determining an added mass and a height of the added mass from the roll rate, the lateral acceleration, the longitudinal acceleration and the yaw rate; and

controlling the safety system in response to the added mass and height.

82. A control system for an automotive vehicle comprising:

a roll rate sensor generating a roll rate signal;

a lateral acceleration sensor generating a lateral acceleration signal;

a longitudinal acceleration sensor generating a longitudinal acceleration signal;

a yaw rate sensor generating a yaw rate signal;

a safety system; and

a controller coupled to a roll rate sensor, the longitudinal acceleration sensor, the lateral acceleration sensor, the yaw rate sensor and the safety system, said controller determining an added mass and a height of the added mass from the roll rate, the lateral acceleration, the longitudinal acceleration, and the yaw rate and controlling the safety system in response to the added mass and height.

83. A system as recited in claim 82 wherein the safety system comprises a roll stability control system.