Roll over stability control for an automotive vehicle

• US 6,834,218 B2
• Filed: 03/03/2003
• Issued: 12/21/2004
• Est. Priority Date: 11/05/2001
• Status: Expired due to Fees

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Meyers, Joseph Carr, Brown, Todd Allen
• Primary Examiner(s): Camby, Richard M.
• Application Number:
  US10/378,225
• Publication Number:
  US 20030163231A1
• Time in Patent Office: 659 Days
• Field of Search: 701/1, 701/72, 701/78, 701/83, 701/38, 701/41, 180/197, 180/271, 180/282, 180/276, 180/283, 303/146, 303/166, 303/189, 340/429, 340/440
• US Class Current: 701/1
• CPC Class Codes: B60G 2400/0511 Roll angle
• CPC Class Codes: B60G 2400/0521 Roll rate
• CPC Class Codes: B60G 2400/0523 Yaw rate
• CPC Class Codes: B60G 2400/104 lateral or transversal with regard to vehicle
• CPC Class Codes: B60G 2400/204 Vehicle speed
• CPC Class Codes: B60G 2400/64 Wheel forces, e.g. on hub, spindle or bearing
• CPC Class Codes: B60G 2800/012 Rolling condition
• CPC Class Codes: B60G 2800/0124 Roll-over conditions
• CPC Class Codes: B60G 2800/016 Yawing condition
• CPC Class Codes: B60G 2800/215 by applying a braking action on each wheel individually
• CPC Class Codes: B60G 2800/702 Improving accuracy of a sensor signal
• CPC Class Codes: B60G 2800/922 EBV - Electronic brake force distribution
• CPC Class Codes: B60T 2210/22 Banked curves
• CPC Class Codes: B60T 2230/03 Overturn, rollover
• CPC Class Codes: B60T 2250/06 Sensor zero-point adjustment; Offset compensation
• 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 8/17554 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: B60T 8/243 for roll-over protection
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 2030/043 : about the roll axis
• CPC Class Codes: B60W 2520/18 : Roll
• CPC Class Codes: B60W 2552/00 : Input parameters relating to infrastructure
• CPC Class Codes: B60W 2552/15 : Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 2556/50 : of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2720/18 : Roll
• CPC Class Codes: B60W 2720/403 : between front and rear axle
• CPC Class Codes: B60W 30/04 : related to roll-over prevention
• CPC Class Codes: B62D 6/00 : Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00

Abstract

A stability control system (24) for an automotive vehicle as includes a plurality of sensors (28-37) sensing the dynamic conditions of the vehicle and a controller (26) that controls a distributed brake pressure to reduce a tire moment so the net moment of the vehicle is counter to the roll direction. The sensors include a speed sensor (30), a lateral acceleration sensor (32), a roll rate sensor (34), and a yaw rate sensor (20). The controller (26) is coupled to the speed sensor (30), the lateral acceleration sensor (32), the roll rate sensor (34), the yaw rate sensor (28). The controller (26) determines a roll angle estimate in response to lateral acceleration, roll rate, vehicle speed, and yaw rate. The controller (26) changes a tire force vector using brake pressure distribution in response to the relative roll angle estimate.

Claims

1. A method of controlling roll stability of a vehicle comprising the steps of:

determining a roll angle of the vehicle; and

generating a tire moment in response to the roll angle so that a net moment on the vehicle is counter to a roll direction.

2. A method as recited in claim 1 wherein the tire moment approaches a gravity moment.

3. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a lateral acceleration.

4. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a lateral acceleration and yaw rate.

5. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a lateral acceleration, vehicle speed and yaw rate.

6. A method as recited in claim 1 wherein determining a roll angle comprises determining a lateral acceleration and a steering velocity.

7. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a roll rate.

8. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a vehicle speed.

9. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a yaw rate a pitch angle.

10. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a pitch rate.

11. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a pitch angle.

12. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a global positioning system signal.

13. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a steering angle.

14. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a steering velocity.

15. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a wheel speed.

16. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a wheel normal load estimate.

17. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a road bank angle.

18. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a roll acceleration.

19. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a longitudinal acceleration.

20. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a reference roll angle.

21. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a relative roll angle.

22. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a road bank angle and a previous roll angle estimate.

23. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a road bank angle and a reference roll angle.

24. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a body roll angle initialization.

25. A method as recited in claim 24 wherein the body roll angle initialization is determined in response to a roll angle estimate and a lateral acceleration.

26. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to an instantaneous roll angle reference.

27. A method as recited in claim 26 wherein the instantaneous roll angle reference is determined in response to a vehicle speed, a yaw rate and a lateral acceleration.

28. A method as recited in claim 1 wherein the roll angle estimate is determined in response to a reference roll angle and a body roll integration.

29. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a roll angle estimate.

30. A method as recited in claim 29 wherein the roll angle estimate is determined in response to a reference roll angle and a body roll integration.

31. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a model roll angle.

32. A method as recited in claim 31 wherein the model roll angle is determined in response to a chassis roll observer.

33. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to a road bank angle time constant.

34. A method as recited in claim 33 wherein the road bank angle time constant is determined in response to a steering velocity, a lateral acceleration and a vehicle speed.

35. A method as recited in claim 1 wherein determining a roll angle comprises determining a roll angle in response to body slip.

36. A method of controlling roll stability of a vehicle comprising the steps of:

determining a roll angle estimate; and

generating a tire moment in response to a roll angle estimate, so that a net moment on the vehicle is counter to a roll direction.

37. A method as recited in claim 36 wherein the tire moment approaches a gravity moment.

38. A method as recited in claim 36 determining a roll angle estimate comprises determining a roll angle estimate in response to a lateral acceleration.

39. A method as recited in claim 36 determining a roll angle estimate comprises determining a roll angle estimate in response to a lateral acceleration and yaw rate.

40. A method as recited in claim 36 determining a roll angle estimate comprises determining a roll angle estimate in response to a lateral acceleration, vehicle speed and yaw rate.

41. A method as recited in claim 36 wherein determining a roll angle estimate comprises determining a lateral acceleration and a steering velocity.

42. A method as recited in claim 36 determining a roll angle estimate comprises determining a roll angle estimate in response to a roll rate.

43. A method as recited in claim 36 determining a roll angle estimate comprises determining a roll angle estimate in response to a vehicle speed.

44. A method as recited in claim 36 determining a roll angle estimate comprises determining a roll angle estimate in response to a yaw rate a pitch angle.

45. A method as recited in claim 36 determining a roll angle estimate comprises determining a roll angle estimate in response to a pitch rate.

46. A method as recited in claim 36 determining a roll angle estimate comprises determining a roll angle estimate in response to a pitch angle.

47. A method as recited in claim 36 determining a roll angle estimate comprises determining a roll angle estimate in response to a global positioning system signal.

48. A method as recited in claim 36 determining a roll angle estimate comprises determining a roll angle estimate in response to a steering angle.

49. A method as recited in claim 36 determining a roll angle estimate comprises determining a roll angle estimate in response to a steering velocity.

50. A method as recited in claim 36 determining a roll angle estimate comprises determining a roll angle estimate in response to a wheel speed.

51. A method as recited in claim 36 determining a roll angle estimate comprises determining a roll angle estimate in response to a wheel normal load estimate.

52. A method as recited in claim 36 determining a roll angle estimate comprises determining a roll angle estimate in response to a road bank angle.

53. A method as recited in claim 36 determining a roll angle estimate comprises determining a roll angle estimate in response to a roll acceleration.

54. A method as recited in claim 36 determining a roll angle estimate comprises determining a roll angle estimate in response to a longitudinal acceleration.

55. A method as recited in claim 36 wherein determining a roll angle estimate comprises determining a roll angle estimate in response to a reference roll angle.

56. A method as recited in claim 36 wherein determining a roll angle estimate comprises determining a roll angle estimate in response to a relative roll angle.

57. A method as recited in claim 36 wherein determining a roll angle estimate comprises determining a roll angle estimate in response to a road bank angle and a previous roll angle estimate.

58. A method as recited in claim 36 wherein determining a roll angle estimate comprises determining a roll angle estimate in response to a road bank angle and a reference roll angle.

59. A method as recited in claim 36 wherein determining a roll angle estimate comprises determining a roll angle estimate in response to a body roll angle initialization.

60. A method as recited in claim 59 wherein the body roll angle initialization is determined in response to a lateral acceleration.

61. A method as recited in claim 36 wherein determining a roll angle estimate comprises determining a roll angle estimate in response to an instantaneous roll angle reference.

62. A method as recited in claim 61 wherein the instantaneous roll angle reference is determined in response to a vehicle speed, a yaw rate and a lateral acceleration.

63. A method as recited in claim 36 wherein the roll angle estimate is determined in response to a reference roll angle and a body roll integration.

64. A method as recited in claim 36 wherein determining a roll angle comprises determining a roll angle in response to a model roll angle.

65. A method as recited in claim 64 wherein the model roll angle is determined in response to a chassis roll observer.

66. A method as recited in claim 36 wherein determining a roll angle estimate comprises determining a roll angle estimate in response to a road bank angle time constant.

67. A method as recited in claim 66 wherein the road bank angle time constant is determined in response to a steering velocity, a lateral acceleration and a vehicle speed.

68. A method as recited in claim 36 wherein determining a roll angle estimate comprises determining a roll angle estimate in response to body slip.

69. A method of controlling roll stability of a vehicle comprising the steps of:

determining a roll responsive control signal; and

generating a tire moment in response to the roll responsive control signal so that a net moment on the vehicle is counter to a roll direction.

70. A method as recited in claim 69 wherein the tire moment approaches a gravity moment.

71. A method as recited in claim 69 wherein determining a roll responsive signal comprises determining a roll responsive control signal in response to a lateral acceleration.

72. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a lateral acceleration and yaw rate.

73. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a lateral acceleration, vehicle speed and yaw rate.

74. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a lateral acceleration and a steering velocity.

75. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a roll rate.

76. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a vehicle speed.

77. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a yaw rate a pitch angle.

78. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a pitch rate.

79. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a pitch angle.

80. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a global positioning system signal.

81. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a steering angle.

82. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a steering velocity.

83. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a wheel speed.

84. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a wheel normal load estimate.

85. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a road bank angle.

86. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a roll acceleration.

87. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a longitudinal acceleration.

88. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a roll angle.

89. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a reference roll angle.

90. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a relative roll angle.

91. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a road bank angle and a previous roll angle estimate.

92. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a road bank angle and a reference roll angle.

93. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a body roll angle initialization.

94. A method as recited in claim 93 wherein the body roll angle initialization is determined in response to a roll angle estimate and a lateral acceleration.

95. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to an instantaneous roll angle reference.

96. A method as recited in claim 69 wherein the roll angle signal reference is determined in response to a vehicle speed, a yaw rate and a lateral acceleration.

97. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a roll angle estimate.

98. A method as recited in claim 69 wherein the roll responsive control signal is determined in response to a reference roll angle and a body roll integration.

99. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a model roll angle.

100. A method as recited in claim 99 wherein the model roll responsive control signal is determined in response to a chassis roll observer.

101. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to a road bank angle time constant.

102. A method as recited in claim 101 wherein the road bank angle time constant is determined in response to a steering velocity, a lateral acceleration and a vehicle speed.

103. A method as recited in claim 69 wherein determining a roll responsive control signal comprises determining a roll responsive control signal in response to body slip.

104. A method of controlling roll stability of a vehicle comprising the steps of:

determining a vehicle roll condition; and

generating a tire moment in response to the vehicle roll condition so that a net moment on the vehicle is counter to a roll direction.

105. A method as recited in claim 104 wherein the tire moment approaches a gravity moment.

106. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a lateral acceleration.

107. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a lateral acceleration and a yaw rate.

108. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a lateral acceleration, a yaw rate and a vehicle speed.

109. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a lateral acceleration and a steering velocity.

110. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a roll rate.

111. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a vehicle speed.

112. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a yaw rate a pitch angle.

113. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a pitch rate.

114. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a pitch angle.

115. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a global positioning system signal.

116. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a steering angle.

117. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a steering velocity.

118. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a wheel speed.

119. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a wheel normal load estimate.

120. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a road bank angle.

121. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a roll acceleration.

122. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a longitudinal acceleration.

123. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a roll angle.

124. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a reference roll angle.

125. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a relative roll angle.

126. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a road bank angle and a previous roll angle estimate.

127. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a road bank angle and a reference roll angle.

128. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a body roll angle initialization.

129. A method as recited in claim 128 wherein the body roll angle initialization is determined in response to a roll angle estimate and a lateral acceleration.

130. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to an instantaneous roll angle reference.

131. A method as recited in claim 130 wherein the instantaneous roll angle reference is determined in response to a vehicle speed, a yaw rate and a lateral acceleration.

132. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a roll angle estimate.

133. A method as recited in claim 132 wherein the roll angle estimate is determined in response to a reference roll angle and a body roll integration.

134. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a model roll angle.

135. A method as recited in claim 134 wherein the model roll angle is determined in response to a chassis roll observer.

136. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to a road bank angle time constant.

137. A method as recited in claim 136 wherein the road bank angle time constant is determined in response to a steering velocity, a lateral acceleration and a vehicle speed.

138. A method as recited in claim 104 wherein determining a vehicle roll condition comprises determining a vehicle roll condition in response to body slip.