System and method for determining an amount of control for operating a rollover control system

• US 6,963,797 B2
• Filed: 07/28/2003
• Issued: 11/08/2005
• Est. Priority Date: 08/05/2002
• Status: Expired due to Term

• Current Assignee: Polestar Performance AB (Polestar Automotive Holding UK Plc)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Ghani, Hani Abdul, Brown, Todd Allen, Salib, Albert Chenouda, Geurink, Mathijs Willem
• Primary Examiner(s): Zanelli, Michael J.
• Application Number:
  US10/628,685
• Publication Number:
  US 20040024509A1
• Time in Patent Office: 834 Days
• Field of Search: 701/45, 701/70, 701/83, 701/48, 701/38, 340/440, 303/146
• US Class Current: 701/45
• CPC Class Codes: B60G 17/0162 mainly during a motion involving steering operation, e.g. cornering, overtaking B60G17/0164 takes precedence
• CPC Class Codes: B60G 17/0195 characterised by the regulation being combined with other vehicle control systems conjoint control of vehicle sub-units including control of suspension systems B60W10/22
• CPC Class Codes: B60G 2800/012 Rolling condition
• CPC Class Codes: B60G 2800/0194 transversal with regard to vehicle
• CPC Class Codes: B60G 2800/9124 Roll-over protection systems, e.g. for warning or control
• CPC Class Codes: B60R 2021/0018 Roll-over
• CPC Class Codes: B60R 2021/01313 monitoring the vehicle steering system or the dynamic control system
• CPC Class Codes: B60R 2021/01327 Angular velocity or angular acceleration
• 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 2201/122 Pre-actuation in case of ESP control
• CPC Class Codes: B60T 2210/22 Banked curves
• CPC Class Codes: B60T 2230/02 Side slip angle, attitude angle, floating angle, drift angle
• CPC Class Codes: B60T 2230/03 Overturn, rollover
• CPC Class Codes: B60T 2260/08 Coordination of integrated systems
• CPC Class Codes: B60T 8/17555 specially adapted for enhancing driver or passenger comfort, e.g. soft intervention or pre-actuation strategies
• CPC Class Codes: B60T 8/18 responsive to vehicle weight or load, e.g. load distribution using electrical circuitry on regulation means B60T8/17; B60T8/30 takes precedence; responsive to weight and speed condition B60T8/58
• CPC Class Codes: B60T 8/243 for roll-over protection
• CPC Class Codes: B60W 2050/0006 Digital architecture hierarchy
• CPC Class Codes: B60W 2050/0009 Proportional differential [PD] controller
• CPC Class Codes: B60W 2050/0011 Proportional Integral Differential [PID] controller
• CPC Class Codes: B60W 2510/20 : Steering systems
• CPC Class Codes: B60W 2520/10 : Longitudinal speed
• CPC Class Codes: B60W 2520/125 : Lateral acceleration
• CPC Class Codes: B60W 2520/14 : Yaw
• CPC Class Codes: B60W 2520/18 : Roll
• CPC Class Codes: B60W 2540/18 : Steering angle
• CPC Class Codes: B60W 30/04 : related to roll-over prevention
• CPC Class Codes: B62D 6/04 : responsive only to forces disturbing the intended course of the vehicle, e.g. forces acting transversely to the direction of vehicle travel
• CPC Class Codes: B62D 7/159 : characterised by computing methods or stabilisation processes or systems, e.g. responding to yaw rate, lateral wind, load, road condition

Abstract

A system 18 for controlling a safety system of an automotive vehicle has a first controller 76 generating a first control signal, a second controller 78 generating a second control signal and an arbitration module 80 coupled to the first controller 76 and the second controller 78. The arbitration module 80 chooses the higher of the first control signal and the second control signal to generate a final control signal. The safety system 38 is coupled to the arbitration module. The safety system 38 is operated in response to the final control signal.

Claims

1. A system for controlling a brake-based safety system of an automotive vehicle comprising:

a transition controller generating a first control signal corresponding to a first control level;

a proportional-derivative controller generating a second control signal corresponding to a second control level;

an arbitration module coupled to the transition controller and the proportional-derivative controller, said arbitration module comparing the first control level and the second control level and then selecting the first control signal or the second control signal corresponding to a higher control level as a final control signal; and

the safety system coupled to the arbitration module, said safety system operated corresponding to the final control signal.

2. A system as recited in claim 1 wherein the proportional-derivative controller comprises a proportional-integral derivative controller.

3. A system as recited in claim 1 wherein the second controller comprises a proportional-integral-derivative-double derivative controller.

4. A system as recited in claim 1 wherein the first signal and the second control signal comprise pressure signals.

5. A system as recited in claim 1 wherein the first signal and the second control signal comprise pressure request signals.

6. A system as recited in claim 1 wherein the safety system comprises a rollover control system.

7. A system as recited in claim 1 wherein the arbitration module weights the first control signal and the second control signal prior to comparing.

8. A system of operating a rollover control system of an automotive vehicle comprising:

a transition controller generating a first pressure control signal;

a pressure-derivative controller generating a second pressure control signal;

an arbitration module coupled to the transition controller and the pressure-derivative controller, said arbitration module choosing the first pressure control signal or the second pressure control signal corresponding to a higher pressure as a final pressure control signal; and

the rollover control system coupled to the arbitration module, said rollover control system operated with the final pressure control signal.

9. A system as recited in claim 8 wherein the pressure-derivative controller comprises a proportional-integral derivative controller.

10. A system as recited in claim 8 wherein the pressure-derivative controller comprises a proportional-integral-derivative-double derivative controller.

11. A system as recited in claim 8 wherein the first pressure control signal and the second pressure control signal comprise pressure request signals.

12. A system as recited in claim 8 wherein the arbitration module weights the first pressure control signal and the second pressure control signal prior to comparing.

13. A method of controlling a hydraulic safety system of an automotive vehicle comprising:

determining a vehicle roll angle;

in a transition controller generating a first control signal;

when the roll angle is greater than a threshold, generating a second control signal from a proportional-derivative controller;

comparing a first control level of the first control signal and a second control level of the second control signal to obtain a final control signal corresponding to a higher control level of the first control signal or the second control signal; and

controlling the hydraulic safety system in response to the final control signal.

14. A method as recited in claim 13 wherein the threshold corresponds substantially to a linear region and non-linear region.

15. A method as recited in claim 13 wherein the roll angle corresponds to two-wheel lift.

16. A method as recited in claim 13 wherein roll angle is inferred by a requested PID signal.

17. A method of operating a safety system in an automotive vehicle comprising:

in a non-divergent region of dynamics of the vehicle, operating the safety system with a transition controller; and

in a divergent region of dynamics of the vehicle, operating the safety system with a proportional-derivative controller.

18. A method as recited in claim 17 wherein the proportional-derivative controller comprises a PID controller.