Integrated control system for stability control of yaw, roll and lateral motion of a driving vehicle using an integrated sensing system to determine a sideslip angle
AssigneeFord Global Technologies, LLC
InventorJianbo Lu
Life of this patent
Estimating the term…
Abstract
A method of controlling a vehicle includes determining a desired sideslip angle in the moving road plane, determining an actual sideslip angle in the moving road plane, a desired yaw rate in the moving road plane, and an actual yaw rate in the moving road plane. A controller controls the vehicle system in response to the desired slip angle, the actual sideslip angle, the desired yaw rate and the actual yaw rate in the moving road plane.
Claims23
A method of determining a sideslip angle used to generate a control signal for controlling a vehicle comprising:
- determining a lateral acceleration for a moving road plane from a plurality of vehicle sensors;
- determining a yaw rate for a moving road plane from a plurality of vehicle sensors;
- determining a longitudinal velocity for a moving road plane from a plurality of vehicle sensors;
- determining a final sideslip angle in response to the lateral acceleration for a moving road plane, the yaw rate for a moving road plane, and the longitudinal velocity for a moving road plane;
- generating a control signal in response to the final sideslip angle;
- and
- controlling the vehicle in response to the generated control signal.
A method of calculating a sideslip angle for controlling a vehicle comprising:
- determining a yaw rate signal from a yaw rate sensor;
- determining a pitch rate signal from pitch rate sensor;
- determining a roll rate signal from a roll rate sensor;
- determining a lateral acceleration signal from a lateral acceleration sensor;
- determining a longitudinal acceleration signal from a longitudinal acceleration sensor;
- determining a vertical acceleration signal from a vertical acceleration sensor;
- determining a vehicle speed signal from a vehicle speed sensor;
- calculating a final sideslip angle in a controller, the final sideslip angle calculated for a moving road plane using the yaw rate signal, pitch rate signal, roll rate signal, the lateral acceleration signal, the vehicle speed signal, the vertical acceleration signal and the longitudinal acceleration signal;
- generating a control signal in response to the final sideslip angle;
- and
- controlling a vehicle using the generated control signal.
A method of determining a final sideslip angle for controlling a vehicle comprising:
- determining a yaw rate signal from a yaw rate sensor;
- determining a pitch rate signal from pitch rate sensor;
- determining a roll rate signal from a roll rate sensor;
- determining a lateral acceleration signal from a lateral acceleration sensor;
- determining a vertical acceleration signal from a vertical acceleration sensor;
- determining a vehicle longitudinal velocity;
- determining a dynamic state sideslip angle in response to the yaw rate signal, pitch rate signal, roll rate signal, the lateral acceleration signal, the vertical acceleration signal and the vehicle longitudinal velocity;
- determining a steady state sideslip angle in response to the vehicle longitudinal velocity;
- determining a final sideslip angle in response to the dynamic state sideslip angle and the steady state sideslip angle;
- generating a control signal in response to the final sideslip angle;
- and
- controlling a vehicle system using the generated control signal.
Dependencies are inferred from the claim text.