System and method for vehicle motion control
AssigneeSentient AB
InventorsJohan Hulten, Lars Markström, Erik Torstensson
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Abstract
The present invention relates to a system for vehicle motion control (100) of a vehicle with at least a steering system and one or more of a brake system (24) and a torque vectoring system, a number of sensors (11.21) for sensing at least vehicle speed or wheel speed, yaw rate and wheel angle, said vehicle motion control system comprising a Yaw Stability Control (YSC) functionality comprising an oversteer control function, wherein the YSC function is arranged to be fail-operational.
Claims25
A system for vehicle motion control of a vehicle with a steering system, and/or a brake system, and/or a torque vectoring system, and a number of sensor arrangements comprising sensors for sensing, directly and/or allowing calculation of, at least vehicle speed or wheel speed, yaw rate and steering angle, said vehicle motion control system comprising a Yaw Stability Control (YSC) functionality with an oversteer control functionality,
- wherein the YSC functionality is arranged to be fail-operational and comprises at least two YSC systems such that when one is shut down, the other will still be working, each of which being connected to one or more of the sensor arrangements comprising a number of sensors, the at least two YSC systems each comprising a controller comprising an oversteer control functionality for controlling the vehicle path by controlling a yaw and/or lateral vehicle state, said at least two YSC systems comprises at least two of one or more YSC systems arranged to act on the/a steering system of the vehicle by acting on one or more steering system actuators comprising steering system gear or position actuators, an YSC system, which is arranged to act on the/a braking system of the vehicle by acting on one or more brake system actuators and an YSC system, which is arranged to act on the/a torque vectoring system of the vehicle by acting on one or more torque vectoring system actuators, in any combination;
- wherein the sensor arrangement(s) at least comprise(s) sensors collecting information allowing determination of vehicle velocity, steering angle and at least one yaw and/or lateral vehicle state, either through direct sensing or through calculation;
- wherein the, or each, sensor arrangement comprises at least one or more sensors for allowing calculation of one or more target yaw and/or lateral vehicle states using one or more of steering angle, vehicle speed, by means of a vehicle model or calculated using a steering angle, a torsion-bar torque and an inverse steering torque feedback calculation, the steering torque being a feedback or function of the yaw and/or lateral vehicle state, and, sensing or calculation of an actual yaw and/or lateral vehicle state and a difference between the/a target and the/an actual state being established or calculated, forming at least one control error and wherein the control error(s) is/are input to each controller;
- and
- wherein the, or each, control error is used for input to the steering control function, and/or to the braking control function, and/or to the torque vectoring function, and the steering control function and/or the braking control function and/or the torque vectoring function is/are adapted to minimize an input control error by controlling one or more steering actuators and/or brake actuators and/or torque vectoring actuators respectively.
A system for vehicle motion control of a vehicle with a steering system, and/or a brake system, and/or a torque vectoring system, and a number of sensor arrangements comprising sensors for sensing, directly and/or allowing calculation of, at least vehicle speed or wheel speed, yaw rate and steering angle, said vehicle motion control system comprising a Yaw Stability Control (YSC) functionality with an oversteer control functionality;
- wherein the YSC functionality is arranged to be fail-operational and comprises at least two YSC systems such that when one is shut down, the other will still be working, each of which being connected to one or more of the sensor arrangements comprising a number of sensors, the at least two YSC systems each comprising a controller comprising an oversteer control functionality for controlling the vehicle path by controlling a yaw and/or lateral vehicle state, said at least two YSC systems comprises at least two of one or more YSC systems arranged to act on the/a steering system of the vehicle by acting on one or more steering system actuators comprising steering system gear or position actuators, an YSC system, which is arranged to act on the/a braking system of the vehicle by acting on one or more brake system actuators and an YSC system, which is arranged to act on the/a torque vectoring system of the vehicle by acting on one or more torque vectoring system actuators, in any combination;
- and
- one sensor arrangement which is common for the first YSC system and for the second YSC system, and in that critical sensors for determining at least vehicle velocity, steering angle and at least one yaw and/or lateral vehicle state at least are triple redundant following a two-out-of-three logic.
A method for vehicle motion control of a vehicle with a steering system, and/or a brake system, and/or a torque vectoring system, and a number of sensor arrangements comprising sensors for sensing, directly and/or allowing calculation of, at least vehicle speed or wheel speed, yaw rate and steering angle, said vehicle motion control system comprising a Yaw Stability Control (YSC) functionality with an oversteer control functionality comprising the step of:
- arranging the YSC functionality to be fail-operational by:
- providing at least a first and a second YSC system, such that when one is shut down, the other will still be working, for controlling the vehicle path by controlling a yaw and/or lateral vehicle state, said at least first and second YSC systems being independent with each a controller with an oversteer control function, and each connected to one or more sensor arrangements comprising a number of sensors, said at least two YSC systems further comprising at least two of one or more YSC system(s) which is/are arranged to act on the/a steering system of the vehicle by acting on one or more steering system actuators comprising steering system gear or position actuators, an YSC system, which is arranged to act on the/a braking system of the vehicle by acting on one or more brake system actuators;
- an YSC system, which is arranged to act on the/a torque vectoring system of the vehicle by acting on one or more torque vectoring system actuators, in any combination;
- determination from input signals from the sensor arrangement(s) of a measure of a torque applied by a driver via a steering wheel;
- transformation of the above-mentioned input signal of a measure of a torque applied by the driver via a steering wheel to a target yaw and/or lateral vehicle state, providing the target yaw and/or lateral vehicle state as input signals to one or more YSC controller(s);
- and
- minimizing control error(s) between the target yaw and/or lateral vehicle state and a corresponding measured actual yaw and or lateral vehicle state in the YSC controller(s) controlling said one or more yaw and/or lateral vehicle state actuators for the vehicle state control using a said minimized control error(s).
Dependencies are inferred from the claim text.