Data processing: vehicles – navigation – and relative location – Vehicle control – guidance – operation – or indication – Indication or control of braking – acceleration – or deceleration
Patent
1999-02-22
2000-09-19
Cuchlinski, Jr., William A.
Data processing: vehicles, navigation, and relative location
Vehicle control, guidance, operation, or indication
Indication or control of braking, acceleration, or deceleration
701 41, 701 71, 701 72, 303140, G06F 770, G06F 1900
Patent
active
061225843
ABSTRACT:
A brake system control method, comprising the steps of: measuring a longitudinal speed and steering angle of the vehicle; specifying an un-damped natural frequency and a damping ratio for a linear reference model of said vehicle; determining a first gain parameter relating a desired value of steady state lateral velocity to the vehicle steering angle; computing a desired lateral velocity as a function of said first gain parameter, the measured longitudinal speed, the measured steering angle, and the specified un-damped natural frequency and damping ratio; determining a second gain parameter relating a desired value of steady state yaw rate to the vehicle steering angle; computing a desired yaw rate as a function of said second gain parameter, the measured longitudinal speed and steering angle, and the specified un-damped natural frequency and damping ratio; measuring a lateral acceleration and yaw rate of said vehicle, and forming a yaw rate command for said vehicle based at least part in a first deviation between said desired and measured yaw rates, and a second deviation between said measured lateral acceleration and a desired lateral acceleration based on said desired lateral velocity; and differentially braking wheels of said vehicle to impart a yaw moment corresponding to said yaw rate command.
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Chen Hsien Heng
Chin Yuen-Kwok
Chin-Woei Lin William
Ghoneim Youssef Ahmed
Sidlosky David Michael
Arthur Gertrude
Cuchlinski Jr. William A.
General Motors Corporation
Simon Anthony Luke
LandOfFree
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