US 7,689,392 B2Granted

Method and apparatus for controlling a vehicle computer model

AssigneesFord Motor Company, Ford Global Technologies, LLC

InventorsKenneth Boyd, Joseph Neal, Eric Tseng

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Abstract

A simulation system (30) for simulating an operation of an automotive vehicle includes an input (34) providing vehicle information and path information and a controller (38) having a vehicle computer model therein. The controller (38) is programmed to determine an initial steering wheel angle input to the computer model; determine a first steering wheel angle input to the computer model at a time later than the initial steering wheel angle input by comparing a look ahead point and an intended path; when the vehicle model is understeering, operate the computer model with the initial steering wheel angle input until an error of the first steering wheel angle and the initial is decreasing; when the error decreases, operate the computer model with the first steering wheel angle input; and generate an output in response to the vehicle model and the initial steering wheel input or the first steering wheel input.

Claims23

Dependent claims

A simulation system for simulating operation of an automotive vehicle, particularly operating in at least one period of intentionally induced understeer, said simulation system comprising:

(i) an input device for providing vehicle information and path information;
and
(ii) a controller coupled to said input device and operable to simulate said automotive vehicle using a vehicle computer model, wherein said controller is programmed to:
(a) determine an initial steering wheel angle that is input to said vehicle computer model;
(b) determine a new steering wheel angle, which is input to said vehicle computer model at a time later than said initial steering wheel angle, by comparing an intended vehicle path with a look ahead point on said intended vehicle path;
(c) determine whether said vehicle computer model is understeering due to the front of said vehicle computer model plowing or slipping substantially forward by a predetermined vehicle response threshold in response to said new steering wheel angle;
(d) when said vehicle computer model is determined to be understeering, operate said vehicle computer model with said initial steering wheel angle until a new steering wheel angle is determined such that said plowing or slipping substantially forward is thereby reduced;
(e) when said plowing or slipping substantially forward is reduced by a new steering wheel angle, operate said vehicle computer model with said new steering wheel angle;
and
(f) generate an output in response to said vehicle computer model and said initial steering wheel angle or said new steering wheel angle.

7 more elements

A method of operating a vehicle computer model having vehicle information and path information therein the vehicle computer model operating with at least one occurrence of intentionally induced understeer, said method being operable on a digital computer system and comprising the steps of:

(a) determining an initial steering wheel angle that is input to said vehicle computer model;
(b) determining a new steering wheel angle, which is input to said vehicle computer model at a time later than said initial steering wheel angle, by comparing an intended vehicle path with a look ahead point on said intended vehicle path;
(c) determining whether said vehicle computer model is understeering due to the front of said vehicle computer model plowing or slipping substantially forward in response to said new steering wheel angle;
(d) determining whether said vehicle computer model is plowing or slipping substantially forward based on whether a yaw acceleration is greater than a predetermined threshold and also whether said new steering wheel angle is greater than said initial steering wheel angle or a previously determined new steering wheel angle;
(e) when said vehicle computer model is determined to be understeering, operating said vehicle computer model with said initial steering wheel angle until a new steering wheel angle is determined such that said plowing or slipping substantially forward is thereby reduced;
(f) when said plowing or slipping substantially forward is reduced by a new steering wheel angle, operating said vehicle computer model with said new steering wheel angle;
and
(g) generating an output in response to said vehicle computer model and said initial steering wheel angle or said new steering wheel angle.

5 more elements

(a) determining a plurality of steering wheel angles, each associated with a different time stamp and input to said vehicle computer model, by comparing an intended vehicle path with a look ahead point on said intended vehicle path at various times;
(b) determining whether said vehicle computer model is understeering due to the front of said vehicle computer model plowing or slipping substantially forward in response to said plurality of steering wheel angles;
(c) determining whether said vehicle computer model is plowing or slipping substantially forward based on whether a yaw acceleration is greater than a predetermined threshold;
(d) when said vehicle computer model is determined to be understeering, operating said vehicle computer model at one of said plurality of steering wheel angles until a later one of said plurality of steering wheel angles is determined such that said plowing or slipping substantially forward is thereby reduced;
(e) when said plowing or slipping substantially forward is reduced by a later one of said plurality of steering wheel angles, operating said vehicle computer model with said later one of said plurality of steering wheel angles;
and
(f) generating an output in response to said vehicle computer model and said later one of said plurality of steering wheel angles.

4 more elements

Dependencies are inferred from the claim text.