System for dynamically determining vehicle rear/trunk loading for use in a vehicle control system

• US 20060129291A1
• Filed: 12/13/2004
• Published: 06/15/2006
• Est. Priority Date: 12/13/2004
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Lu, Jianbo, Mattson, Keith, Meyers, Joe
• Granted Patent: US 7,660,654 B2
• Time in Patent Office: Days
• US Class Current: 701/36
• CPC Class Codes: B60T 8/17554 specially adapted for enhancing stability around the vehicles longitudinal axle, i.e. roll-over prevention road vehicle drive control systems for roll-over prevention otherwise than by controlling a particular sub-unit B60W30/04
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2520/16 Pitch
• CPC Class Codes: B60W 2720/16 Pitch
• 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 40/13 Load or weight

Abstract

A control system (18) and method for an automotive vehicle (10) includes a pitch rate sensor (37) generating a pitch rate 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. From the sensors, the controller (26) determines an added mass and a position of the added mass, a pitch gradient and/or a pitch acceleration coefficient that takes into account the added mass and position. The controller controls a vehicle system in response to the added mass and the position of the added mass, the pitch gradient and/or pitch acceleration coefficient variables.

Claims

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

determining an adaptive pitch gradient; and

controlling the vehicle system in response to the adaptive pitch gradient.

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

3. A method as recited in claim 1 wherein determining an adaptive pitch gradient comprises determining the adaptive pitch gradient in response to a longitudinal acceleration.

4. A method as recited in claim 1 wherein determining an adaptive pitch gradient comprises determining the adaptive pitch gradient in response to a longitudinal acceleration and a pitch acceleration.

5. A method as recited in claim 1 wherein determining an adaptive pitch gradient comprises determining the adaptive pitch gradient in response to a longitudinal acceleration, a pitch rate and a pitch acceleration.

6. A method as recited in claim 1 wherein determining an adaptive pitch gradient comprises determining the adaptive pitch gradient in response to a longitudinal acceleration, a pitch rate, a pitch acceleration, a yaw rate and a relative roll angle.

7. A method as recited in claim 1 wherein controlling the vehicle system comprises adaptively adjusting a pitch angle determination in response to the adaptive pitch gradient.

8. A method as recited in claim 1 wherein controlling the vehicle system comprises adjusting control gains in response to the adaptive pitch gradient.

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

10. A method as recited in claim 9 wherein the pitch acceleration coefficient is adaptively determined.

11. A method as recited in claim 9 wherein determining a pitch acceleration coefficient comprises determining the pitch acceleration coefficient from a pitch rate sensor signal.

12. A method as recited in claim 9 wherein determining a pitch acceleration coefficient comprises determining the pitch acceleration coefficient in response to a longitudinal acceleration.

13. A method as recited in claim 9 wherein determining a pitch acceleration coefficient comprises determining the pitch acceleration coefficient in response to a longitudinal acceleration signal and a pitch acceleration.

14. A method as recited in claim 9 wherein determining a pitch acceleration coefficient comprises determining the pitch acceleration coefficient in response to a longitudinal acceleration, a pitch rate and a pitch acceleration.

15. A method as recited in claim 9 wherein determining a pitch acceleration coefficient comprises determining the pitch acceleration coefficient in response to a longitudinal acceleration, a pitch rate, a pitch acceleration, a yaw rate and a relative roll angle.

16. A method as recited in claim 1 wherein controlling the vehicle system comprises controlling a safety system.

17. A method as recited in claim 16 wherein controlling the safety system comprises controlling a roll stability control system.

18. A method as recited in claim 16 wherein controlling the safety system comprises controlling a yaw stability control system.

19. A method as recited in claim 1 wherein controlling the vehicle system comprises controlling a headlight leveling system.

20. A method as recited in claim 1 wherein controlling the vehicle system comprises controlling vehicle body leveling system.

21. A method as recited in claim 1 wherein controlling the vehicle system comprises compensating at least one sensor output.

22. A method of controlling a vehicle system for a vehicle comprising:

determining an adaptive pitch acceleration coefficient; and

controlling the vehicle system in response to the adaptive pitch acceleration coefficient.

23. A method as recited in claim 22 wherein determining an adaptive pitch acceleration coefficient comprises determining the adaptive pitch acceleration coefficient from a pitch rate sensor signal.

24. A method as recited in claim 22 wherein determining an adaptive pitch acceleration coefficient comprises determining the adaptive pitch acceleration coefficient in response to a longitudinal acceleration.

25. A method as recited in claim 22 wherein determining an adaptive pitch acceleration coefficient comprises determining the adaptive pitch acceleration coefficient in response to a longitudinal acceleration signal and a pitch acceleration.

26. A method as recited in claim 22 wherein determining an adaptive pitch acceleration coefficient comprises determining the adaptive pitch acceleration coefficient in response to in response to a longitudinal acceleration, a pitch rate and a pitch acceleration.

27. A method as recited in claim 22 wherein determining an adaptive pitch acceleration coefficient comprises determining the adaptive pitch acceleration coefficient in response to a longitudinal acceleration, a pitch rate, a pitch acceleration, a yaw rate and a relative roll angle.

28. A method as recited in claim 22 wherein controlling the vehicle system comprises controlling a safety system.

29. A method as recited in claim 28 wherein controlling the safety system comprises controlling a roll stability control system.

30. A method as recited in claim 28 wherein controlling the safety system comprises controlling a yaw stability control system.

31. A method as recited in claim 22 wherein controlling the vehicle system comprises controlling a headlight leveling system.

32. A method as recited in claim 22 wherein controlling the vehicle system comprises controlling a vehicle body leveling system.

33. A method as recited in claim 22 wherein controlling the vehicle system comprises compensating at least one sensor output.

34. A method as recited in claim 22 wherein controlling the safety system comprises adaptively adjusting a pitch angle determination in response to the adaptive pitch acceleration coefficient.

35. A method as recited in claim 22 wherein controlling the safety system comprises adjusting control gains in response to the adaptive pitch gradient.

36. A method of controlling a vehicle system of a vehicle comprising:

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

determining an added mass in response to the pitch rate signal;

classifying a longitudinal location of the added mass into a trunk load or non-trunk load; and

controlling the vehicle system in response to the added mass and at least one of the longitudinal location or the trunk load.

37. A method as recited in claim 36 further comprising determining a longitudinal acceleration and wherein determining an added mass comprises determining the added mass in response to the pitch rate signal and the longitudinal acceleration.

38. A method as recited in claim 36 further comprising determining a longitudinal acceleration and a yaw rate and wherein determining an added mass comprises determining the added mass in response to the pitch rate signal, the longitudinal acceleration and the yaw rate.

39. A method as recited in claim 36 further comprising determining a longitudinal acceleration, a relative roll angle and a yaw rate and wherein determining an added mass comprises determining the added mass in response to the pitch rate signal, the longitudinal acceleration, the relative roll angle and a yaw rate.

40. A method as recited in claim 36 further comprising determining a position of the added mass and wherein controlling comprises controlling the safety system in response to the added mass and the longitudinal distance of the added mass.

41. A method as recited in claim 36 wherein the position is a longitudinal position relative to a point at the vehicle body.

42. A method as recited in claim 36 further comprising determining a longitudinal acceleration and wherein determining a position of an added mass comprises determining the position of the added mass in response to the pitch rate signal and the longitudinal acceleration.

43. A method as recited in claim 36 further comprising determining a longitudinal acceleration and a yaw rate and wherein determining a position of an added mass comprises determining a position of the added mass in response to the pitch rate signal, a longitudinal acceleration and a yaw rate.

44. A method as recited in claim 36 wherein controlling the vehicle system comprises adaptively adjusting a pitch angle determination in response to the added mass and the position of the added mass.

45. A method as recited in claim 36 wherein controlling the vehicle system comprises adjusting control gains in response to the added mass and the position of the added mass.

46. A method as recited in claim 36 wherein the position of the added mass comprises the position of the center of gravity of the vehicle including the added mass.

47. A method as recited in claim 36 wherein controlling the vehicle system comprises controlling a safety system.

48. A method as recited in claim 47 wherein controlling the safety system comprises controlling a roll stability control system.

49. A method as recited in claim 47 wherein controlling the safety system comprises controlling a yaw stability control system.

50. A method as recited in claim 36 wherein controlling the vehicle system comprises controlling a headlight leveling system.

51. A method as recited in claim 36 wherein controlling the vehicle system comprises controlling a vehicle body leveling system.

52. A method as recited in claim 36 wherein controlling the vehicle system comprises compensating at least one sensor output.

53. A method of controlling a vehicle system for a vehicle comprising:

determining a pitch gradient;

determining a pitch acceleration coefficient;

determining an added mass and a position of the added mass from the pitch gradient and the pitch acceleration coefficient; and

controlling the vehicle system in response to the added mass and position of the added mass.

54. A method as recited in claim 53 wherein determining a pitch gradient comprises determining a pitch gradient from a pitch rate sensor.

55. A method as recited in claim 53 wherein determining a pitch acceleration coefficient comprises determining a pitch acceleration coefficient from a pitch rate sensor.

56. A method as recited in claim 53 wherein the position corresponds to a change in a center of gravity position.

57. A method as recited in claim 53 wherein controlling the vehicle system comprises controlling a safety system.

58. A method as recited in claim 57 wherein controlling the safety system comprises controlling a roll stability control system.

59. A method as recited in claim 57 wherein controlling the safety system comprises controlling a yaw stability control system.

60. A method as recited in claim 53 wherein controlling the vehicle system comprises controlling a headlight leveling system.

61. A method as recited in claim 53 wherein controlling the vehicle system comprises controlling vehicle body leveling system.

62. A method as recited in claim 53 wherein controlling the vehicle system comprises compensating at least one sensor output.

63. A method as recited in claim 53 wherein determining a pitch gradient comprises determining the pitch gradient in response to a pitch rate and a longitudinal acceleration signal.

64. A method as recited in claim 53 wherein determining a pitch gradient comprises determining the pitch gradient in response to a longitudinal acceleration signal, a pitch rate and a pitch acceleration.

65. A method as recited in claim 53 wherein determining a pitch gradient comprises determining the pitch gradient in response to a longitudinal acceleration signal, a yaw rate signal and a pitch rate.

66. A method as recited in claim 53 wherein determining a pitch gradient comprises determining the pitch gradient in response to a longitudinal acceleration, a pitch rate, a pitch acceleration and a yaw rate.

67. A method as recited in claim 53 wherein determining a pitch gradient comprises determining the pitch gradient in response to a longitudinal acceleration, a pitch rate, a pitch acceleration, a yaw rate and a relative roll angle.

68. A method as recited in claim 53 wherein determining a pitch acceleration coefficient comprises determining the pitch acceleration coefficient in response to a pitch rate and a longitudinal acceleration signal.

69. A method as recited in claim 53 wherein determining a pitch acceleration coefficient comprises determining the pitch acceleration coefficient in response to a longitudinal acceleration signal, a pitch rate and a pitch acceleration.

70. A method as recited in claim 53 wherein determining a pitch acceleration coefficient comprises determining the pitch acceleration coefficient in response to a longitudinal acceleration signal, a yaw rate signal and a pitch rate.

71. A method as recited in claim 53 wherein determining a pitch acceleration coefficient comprises determining the pitch acceleration coefficient in response to a longitudinal acceleration, a pitch rate, a pitch acceleration and a yaw rate.

72. A method as recited in claim 53 wherein determining a pitch acceleration coefficient comprises determining the pitch acceleration coefficient in response to a longitudinal acceleration, a pitch rate, a pitch acceleration, a yaw rate and a relative roll angle.

73. A method for controlling a vehicle system for a vehicle comprising:

determining a pitch rate;

determining a longitudinal acceleration;

determining a yaw rate;

determining an added mass and a position of the added mass from the pitch rate, the longitudinal acceleration and the yaw rate; and

controlling the vehicle system in response to the added mass and the position of the added mass.

74. A method as recited in claim 73 wherein controlling the vehicle system comprises controlling a safety system.

75. A method as recited in claim 74 wherein controlling the safety system comprises controlling a roll stability control system.

76. A method as recited in claim 74 wherein controlling the safety system comprises controlling a yaw stability control system.

77. A method as recited in claim 73 wherein controlling the vehicle system comprises controlling a headlight leveling system.

78. A method as recited in claim 73 wherein controlling the vehicle system comprises controlling vehicle body leveling system.

79. A method as recited in claim 73 wherein controlling the vehicle system comprises compensating at least one sensor output.

80. A control system for an automotive vehicle comprising:

a pitch rate sensor generating a pitch rate signal;

a longitudinal acceleration sensor generating a longitudinal acceleration signal;

a yaw rate sensor generating a yaw rate signal;

a vehicle system; and

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

81. A system as recited in claim 80 wherein the vehicle system comprises a safety system.

82. A system as recited in claim 81 wherein the safety system comprises a roll stability control system.

83. A system as recited in claim 81 wherein the safety system comprises a yaw stability control system.

84. A system as recited in claim 81 wherein controlling the vehicle system comprises controlling a headlight leveling system.

85. A system as recited in claim 81 wherein controlling the vehicle system comprises controlling vehicle body leveling system.