Data processing: vehicles – navigation – and relative location – Vehicle control – guidance – operation – or indication – Indication or control of braking – acceleration – or deceleration
Reexamination Certificate
1999-07-29
2001-04-03
Louis-Jacques, Jacques H. (Department: 3661)
Data processing: vehicles, navigation, and relative location
Vehicle control, guidance, operation, or indication
Indication or control of braking, acceleration, or deceleration
C701S071000, C701S074000, C701S076000, C303S140000, C303S146000, C180S197000, C188S18100R
Reexamination Certificate
active
06212460
ABSTRACT:
BACKGROUND OF THE INVENTION
Automotive vehicles have been produced or demonstrated with brake systems that modulate brake force during stops to provide anti-lock brake control (ABS) and/or that modulate brake force during vehicle acceleration to provide positive acceleration traction control (TCS). Some such brake systems additionally provide brake-by-wire control.
SUMMARY OF THE PRESENT INVENTION
It is an object of this invention to provide a chassis control method according to claim
1
.
Advantageously this invention provides a chassis control system for actively controlling the road response of a motor vehicle.
Advantageously this invention provides a chassis control method and system that provides closed loop yaw control by developing a yaw rate command from operator inputs such as vehicle speed and steering wheel position. This invention provides a control that minimizes a difference between the yaw rate command and the actual vehicle yaw rate.
Advantageously, this invention provides yaw control commands responsive to the operating conditions of the vehicle to provide a desired vehicle response. Advantageously, this invention implements yaw rate control through a wheel speed control structure. More particularly, the speeds of the vehicle wheels are continuously monitored along with the actual vehicle yaw rate and various operator-affected vehicle conditions, such as steering wheel angle and vehicle speed. A yaw rate command is determined in response to the vehicle conditions and compared to the measured yaw rate. A control term is venerated in response to the difference between the measured and desired yaw rates and is provided in terms of wheel speed. The control term is summed with a base wheel speed, set responsive to the last measured wheel speed before the active brake control is activated on the wheel, and the summation result is referred to as the target wheel speed. The wheel brakes are controlled to minimize the difference between the target and measured wheel speeds.
Advantageously, according to a preferred example, this invention provides a control method for use in a vehicle with an active brake control system and a plurality of vehicle wheels, wherein the active brake control system has an active and an inactive state for each wheel, the control method comprising the steps of: determining individual wheel speeds of the vehicle wheels responsive to sensor output signals (
1016
,
1018
); determining a vehicle reference velocity responsive to the individual wheel speeds (
1002
-
1012
); measuring vehicle yaw rate (
1128
); determining a delta velocity for each wheel responsive to the individual wheel speed for the wheel and the vehicle reference velocity (
326
); and when the active brake control system is in the active state for at least one of the wheels, (a) setting a base delta velocity for the one wheel equal to the delta velocity for the one wheel immediately prior to the active brake control obtaining the active state for the one wheel (
200
); (b) determining a control term responsive to the measured vehicle yaw rate (
806
), wherein the control term represents a desired delta velocity for the one wheel; (c) setting a first target change in delta velocity responsive to the base delta velocity and the control term (
204
), wherein the first target change in delta velocity represents an amount of change desired in the delta velocity for the one wheel; and (d) controlling a first wheel brake for the one wheel so that a difference between the delta velocity for the one wheel and the desired delta velocity for the one wheel is minimized (
208
).
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Bassett Duane E
Carson Douglass L
Pastor Stephen R
Paul Ronald
Rizzo Michael D
General Motors Corporation
Louis-Jacques Jacques H.
Simon Anthony Luke
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