System for determining torque and tire forces using integrated sensing system
First Claim
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1. A method of controlling a vehicle having tires comprising:
- determining an axle torque;
determining longitudinal forces at each tire in response to the axle torque;
determining a steering wheel angle;
determining a vehicle velocity;
determining a plurality of lateral forces;
when the steering wheel angle is at or exceeds a predetermined steering wheel angle threshold value, said determining of said plurality of lateral forces comprises determining lateral forces for each individual front tire and a lateral tire force for a rear tire in response to the longitudinal forces and the steering wheel angle;
when the steering wheel angle is below the predetermined steering wheel angle threshold value, said determining of said plurality of lateral forces comprises determining a sum of lateral forces for the front tires and a sum of lateral forces for the rear tires in response to the longitudinal forces and the steering wheel angle; and
controlling lateral motion of a vehicle system in response to the plurality of lateral forces.
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Abstract
A vehicle (10) includes a control system (18) that is used to control a vehicle system. The control system determines an axle torque, and longitudinal forces at each tire in response to the axle torque. Lateral forces at each tire are determined in response to the longitudinal forces. The control system of the vehicle is determined in response to the longitudinal and lateral forces.
311 Citations
16 Claims
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1. A method of controlling a vehicle having tires comprising:
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determining an axle torque; determining longitudinal forces at each tire in response to the axle torque; determining a steering wheel angle; determining a vehicle velocity; determining a plurality of lateral forces; when the steering wheel angle is at or exceeds a predetermined steering wheel angle threshold value, said determining of said plurality of lateral forces comprises determining lateral forces for each individual front tire and a lateral tire force for a rear tire in response to the longitudinal forces and the steering wheel angle; when the steering wheel angle is below the predetermined steering wheel angle threshold value, said determining of said plurality of lateral forces comprises determining a sum of lateral forces for the front tires and a sum of lateral forces for the rear tires in response to the longitudinal forces and the steering wheel angle; and controlling lateral motion of a vehicle system in response to the plurality of lateral forces. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method of controlling a vehicle having a rear axle, said method comprising:
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determining a road frame longitudinal acceleration; determining a road frame lateral acceleration of the vehicle; determining road frame yaw rate; determining an axle torque in response to wheel speeds at the drive axle and an engine speed; determining a steered wheel angle; determining tire longitudinal forces in response to axle torque; determining a plurality of tire lateral forces; when the steered wheel angle is at or exceeds a predetermined steered wheel angle threshold value, said determining of said plurality of tire lateral forces comprises determining front individual tire lateral forces and a sum of tire lateral forces at the rear axle in response to the tire longitudinal forces, the road frame longitudinal acceleration, the road frame lateral acceleration and the steered wheel angle; when the steered wheel angle is below the predetermined steered wheel angle threshold value, said determining of said plurality of tire lateral forces comprises determining a sum of tire lateral forces at the front axle and a sum of tire lateral forces at the rear axle in response to the tire longitudinal forces, the road frame longitudinal acceleration and the road frame lateral acceleration; and controlling lateral motion of a vehicle system in response to the tire plurality of tire lateral forces. - View Dependent Claims (13, 14, 15, 16)
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Specification