Roll over stability control for an automotive vehicle

• US 7,130,735 B2
• Filed: 02/25/2005
• Issued: 10/31/2006
• Est. Priority Date: 12/21/1999
• Status: Expired due to Fees

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Brown, Todd, Meyers, Joseph C.
• Primary Examiner(s): Camby, Richard M.
• Application Number:
  US11/067,267
• Publication Number:
  US 20050177296A1
• Time in Patent Office: 613 Days
• Field of Search: 701/1, 701/70, 701/72, 701/78, 701/83, 701/38, 701/41, 180/197, 180/271, 180/28, 303/146, 303/166, 303/189, 340/429, 340/440
• US Class Current: 701/70
• 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 rollover control system for an automotive vehicle having a steering system and a brake system comprising:

a roll condition sensor producing a rollover signal in response to an impending rollover; and

a controller apportioning an amount of correction provided by the steering system and the brake system to prevent the vehicle from rolling over.

2. A system as recited in claim 1 wherein the roll condition sensor comprises a lateral acceleration sensor.

3. A system as recited in claim 1 wherein the roll condition sensor comprises a lateral acceleration sensor and a yaw rate sensor.

4. A system as recited in claim 1 wherein the roll condition sensor comprises a lateral acceleration sensor, a yaw rate sensor and a vehicle speed sensor.

5. A system as recited in claim 1 wherein the roll condition sensor comprises a lateral acceleration sensor and steering velocity sensor.

6. A system as recited in claim 1 wherein the roll condition sensor comprises a roll rate sensor.

7. A system as recited in claim 1 wherein the roll condition sensor comprises a vehicle speed sensor.

8. A system as recited in claim 1 wherein the roll condition sensor comprises a yaw rate sensor and a pitch angle sensor.

9. A system as recited in claim 1 wherein the roll condition sensor comprises a pitch rate sensor.

10. A system as recited in claim 1 wherein the roll condition sensor comprises a pitch angle sensor.

11. A system as recited in claim 1 wherein the roll condition sensor comprises a global positioning system.

12. A system as recited in claim 1 wherein the roll condition sensor comprises a steering angle sensor.

13. A system as recited in claim 1 wherein the roll condition sensor comprises a steering velocity sensor.

14. A system as recited in claim 1 wherein the roll condition sensor comprises a wheel speed sensor.

15. A system as recited in claim 1 wherein the roll condition sensor comprises wheel normal load sensor.

16. A system as recited in claim 1 wherein the roll condition sensor comprises a roll acceleration sensor.

17. A system as recited in claim 1 wherein the roll condition sensor comprises a longitudinal acceleration.

18. A system as recited in claim 1 wherein the roll condition sensor comprises a roll angle.

19. A system as recited in claim 1 wherein the roll condition sensor comprises a vehicle speed sensor, a yaw rate sensor and a lateral acceleration sensor.

20. A system as recited in claim 1 wherein the roll condition sensor comprises a chassis roll observer.

21. A system as recited in claim 1 wherein the roll condition sensor comprises a suspension sensor.

22. A system as recited in claim 1 wherein the roll condition sensor comprises a body slip sensor.

23. A system as recited in claim 1 wherein the roll condition sensor comprises a bank angle sensor.

24. A method of controlling roll stability of a vehicle having a brake system and a steering system comprising:

determining a roll condition of the vehicle in response to an impending rollover; and

apportioning an amount of correction provided by the steering system and the brake system to prevent the vehicle from rolling over.

25. A method as recited in claim 24 wherein determining a roll condition comprises determining a lateral acceleration.

26. A method as recited in claim 24 wherein determining a roll condition comprises determining a lateral acceleration and a yaw rate.

27. A method as recited in claim 24 wherein determining a roll condition comprises determining a lateral acceleration, a vehicle speed and a yaw rate.

28. A method as recited in claim 24 wherein determining a roll condition comprises determining a lateral acceleration and a steering velocity.

29. A method as recited in claim 24 wherein determining a roll condition comprises determining a roll condition in response to a roll rate.

30. A method as recited in claim 24 wherein determining a roll condition comprises determining a roll condition in response to a vehicle speed.

31. A method as recited in claim 24 wherein determining a roll condition comprises determining a roll condition in response to a yaw rate a pitch angle.

32. A method as recited in claim 24 wherein determining a roll condition comprises determining a roll condition in response to a pitch rate.

33. A method as recited in claim 24 wherein determining a roll condition comprises determining a roll condition in response to a pitch angle.

34. A method as recited in claim 24 wherein determining a roll condition comprises determining a roll condition in response to a global positioning system signal.

35. A method as recited in claim 24 wherein determining a roll condition comprises determining a roll condition in response to a steering angle.

36. A method as recited in claim 24 wherein determining a roll condition comprises determining a roll condition in response to a steering velocity.

37. A method as recited in claim 24 wherein determining a roll condition comprises determining a roll condition in response to a wheel speed.

38. A method as recited in claim 24 wherein determining a roll condition comprises determining a roll condition in response to a wheel normal load estimate.

39. A method as recited in claim 24 wherein determining a roll condition comprises determining a roll condition in response to a road bank angle.

40. A method as recited in claim 24 wherein determining a roll condition comprises determining a roll condition in response to a roll acceleration.

41. A method as recited in claim 24 wherein determining a roll condition comprises determining a roll condition in response to a longitudinal acceleration.

42. A method as recited in claim 24 wherein determining a roll condition comprises determining a roll condition in response to a roll angle.

43. A method as recited in claim 24 wherein determining a roll condition comprises determining a roll condition in response to a reference roll angle.

44. A method as recited in claim 24 wherein determining a roll condition comprises determining a roll condition in response to a relative roll angle.

45. A method as recited in claim 24 wherein determining a roll condition comprises determining a roll condition in response to a road bank angle and a previous roll angle estimate.

46. A method as recited in claim 24 wherein determining a roll condition comprises determining a roll condition in response to a road bank angle and a reference roll angle.

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

48. A method as recited in claim 47 wherein the body roll angle initialization is determined in response to a roll angle estimate and a lateral acceleration.

49. A method as recited in claim 24 wherein determining a roll condition comprises determining a roll condition in response to an instantaneous roll angle reference.

50. A method as recited in claim 49 wherein the instantaneous roll angle reference is determined in response to a vehicle speed, a yaw rate and a lateral acceleration.

51. A method as recited in claim 24 wherein determining a roll condition comprises determining a roll condition in response to a roll angle estimate.

52. A method as recited in claim 51 wherein the roll angle estimate is determined in response to a reference roll angle and a body roll integration.

53. A method as recited in claim 24 wherein determining a roll condition comprises determining a roll condition in response to a roll angle estimate.

54. A method as recited in claim 53 wherein the roll angle estimate is determined in response to a reference roll angle and a body roll integration.

55. A method as recited in claim 24 wherein determining a roll condition comprises determining a roll condition in response to a model roll angle.

56. A method as recited in claim 55 wherein the model roll angle is determined in response to a chassis roll observer.

57. A method as recited in claim 24 wherein determining a roll condition comprises determining a roll condition in response to a road bank angle time constant.

58. A method as recited in claim 57 wherein the road bank angle time constant is determined in response to a steering velocity, a lateral acceleration and a vehicle speed.

59. A method as recited in claim 24 wherein determining a roll condition comprises determining a roll condition in response to body slip.