Data processing: vehicles – navigation – and relative location – Vehicle control – guidance – operation – or indication – Indication or control of braking – acceleration – or deceleration
Utility Patent
1998-08-21
2001-01-02
Nguyen, Tan (Department: 3661)
Data processing: vehicles, navigation, and relative location
Vehicle control, guidance, operation, or indication
Indication or control of braking, acceleration, or deceleration
C701S082000, C303S140000
Utility Patent
active
06169951
ABSTRACT:
FIELD OF THE INVENTION
This invention relates to a vehicle active brake control in which differential braking is used to impart a yaw moment, and more particularly to a control based on an estimate of the vehicle yaw rate.
BACKGROUND OF THE INVENTION
Recently, vehicles have been produced with brake systems that can actively brake individual wheels in an effort to improve vehicle stability or handling near and at the limit of adhesion. These systems usually seek to bring the vehicle as closely as possible to a desired path and/or to minimize the lateral movement of the tires relative to the road surface. Typically, the control is configured to bring the vehicle yaw rate into correspondence with a desired yaw rate value.
Because the price of yaw rate sensors is still relatively high, active controls of the type described above are necessarily limited to a small number of vehicles. While the vehicle yaw rate can be estimated based on measured speeds of the un-driven wheels, the estimates often fail to faithfully track the actual vehicle yaw, particularly during braking when the un-driven wheels begin to slip. What is desired is an active brake control that does not require a yaw sensor, but that can reliably estimate and control yaw even during conditions that degrade the validity of a wheel speed based estimate of yaw rate.
SUMMARY OF THE PRESENT INVENTION
The present invention is directed to an improved vehicle active brake control based on an estimate of vehicle yaw rate, wherein the estimate is based on the speeds of the un-driven wheels, but compensated to reflect slipping of the un-driven wheels during braking. Prior to braking, the yaw rate is estimated solely on the basis of the measured speeds of the un-driven wheels. During braking, the slip speeds of the un-driven wheels are estimated based on the reference speed of the vehicle and the previous estimate of yaw rate, and used to compute a new yaw rate that is compensated for the estimated slip speeds.
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Chin Yuen-Kwok
Ghoneim Youssef Ahmed
General Motors Corporation
Nguyen Tan
Simon Anthony Luke
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