Integrated control system for stability control of yaw, roll and lateral motion of a driving vehicle using an integrated sensing system to determine longitudinal velocity
AssigneeFord Global Technologies, LLC
InventorsJianbo Lu, Joseph C. Meyers
Life of this patent
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Abstract
A method of controlling a vehicle includes determining an acceleration-based longitudinal velocity, determining a wheel speed-based longitudinal velocity from a plurality of wheel speed sensors, combining the acceleration-based longitudinal velocity and the wheel speed-based longitudinal velocity to obtain a final longitudinal velocity and controlling vehicle with the final longitudinal velocity.
Claims30
A method of controlling a vehicle, the method carried out in a controller on the vehicle and comprising the steps of:
- determining an acceleration-based longitudinal vehicle velocity using at least an input from a vertical accelerometer, a longitudinal acceleration, a yaw rate, a pitch rate, a lateral velocity and a pitch angle in a moving road frame, the pitch angle in a moving road frame being determined in response to a global pitch angle and a relative pitch angle:
- determining a wheel speed-based longitudinal velocity from a plurality of wheel speed sensors;
- combining the acceleration-based longitudinal velocity and wheel speed based longitudinal velocity to obtain a final longitudinal velocity;
- and
- controlling a vehicle with the final longitudinal velocity.
A method of controlling a vehicle, the method carried out in a controller on the vehicle and comprising the steps of:
- determining a wheel speed status;
- determining a drivetrain mode;
- determining an acceleration-based longitudinal vehicle velocity from lateral, longitudinal and vertical components of a sensed acceleration and in response to the wheel speed status and drivetrain mode;
- determining a wheel speed-based longitudinal velocity from a plurality of wheel speed sensors;
- combining the acceleration-based longitudinal velocity and wheel speed based longitudinal velocity to obtain a final longitudinal velocity;
- and
- controlling a vehicle with the final longitudinal velocity.
An integrated control system for stability control of yaw, roll and lateral motion of a vehicle having a sensor set including a lateral acceleration sensor, a longitudinal acceleration sensor, a vertical acceleration sensor, and a plurality of wheel speed sensors, the integrated control system comprising:
- a controller;
- an acceleration-based longitudinal vehicle velocity derived in the controller from lateral, longitudinal and vertical components of a sensed acceleration;
- a wheel speed-based longitudinal velocity derived in the controller from the plurality of wheel speed sensors;
- a final longitudinal velocity derived in the controller from a combination of the acceleration-based longitudinal velocity and the wheel speed-based longitudinal velocity, the final longitudinal velocity being used by the controller for stability control.
An integrated control system for stability control of yaw, roll and lateral motion of a vehicle comprising:
- a controller;
- a plurality of wheel speed sensors for determining a wheel speed status input to the controller, the wheel speed status input, being defined as a wheel speed signal that is a correct indication of longitudinal velocity;
- a drivetrain mode input to controller that is indicative of a drivetrain mode of the vehicle;
- an acceleration-based longitudinal vehicle velocity derived in the controller and based on lateral, longitudinal and vertical components of acceleration, wheel speed status input and drivetrain mode input;
- a wheel speed-based longitudinal velocity derived in the controller from the plurality of wheel speed sensors;
- a final longitudinal velocity derived in the controller from a combination of the acceleration based longitudinal velocity and the wheel speed-based longitudinal velocity, the final longitudinal velocity being used by the controller for stability control.
Dependencies are inferred from the claim text.