Data processing: vehicles – navigation – and relative location – Vehicle control – guidance – operation – or indication – Indication or control of braking – acceleration – or deceleration
Reexamination Certificate
1998-05-18
2001-03-20
Cuchlinski, Jr., William A. (Department: 3614)
Data processing: vehicles, navigation, and relative location
Vehicle control, guidance, operation, or indication
Indication or control of braking, acceleration, or deceleration
C701S036000, C701S073000, C701S079000, C701S089000, C180S167000, C180S170000, C303S146000, C303S147000, C303S155000, C303S140000, C342S070000
Reexamination Certificate
active
06205391
ABSTRACT:
FIELD OF THE INVENTION
This invention relates to vehicle yaw control that does not require a yaw sensor, wherein the validity of an estimate of vehicle yaw is determined and used to select an appropriate control methodology.
BACKGROUND OF THE INVENTION
Chassis control technology has achieved noteworthy progress, thanks to advancements in sensing and computing technologies as well as advances in estimation and control theory. This has permitted the design of various control systems using active means to achieve a more maneuverable vehicle. One such enhancement is the control and adjustment of the tire forces through the braking force distribution control strategy, using a steering wheel angle sensor, a lateral accelerometer, and a yaw rate sensor to devise a yaw rate feedback control. Because the price of these different sensors, especially the yaw rate sensor, is still high, this technology is limited to a small number of vehicles. While the vehicle yaw rate can be computed as a function of the measured speeds of the un-driven wheels, the estimate fails to faithfully track the actual vehicle yaw during braking or when the vehicle exhibits an oversteer condition. What is desired is a yaw control that does not require a yaw sensor, but that can reliably control yaw even during conditions that degrade the validity of the estimated or computed yaw.
SUMMARY OF THE PRESENT INVENTION
The present invention is directed to an improved vehicle yaw control that does not require a yaw sensor, wherein the validity of an estimate of vehicle yaw is determined and used to select an appropriate control methodology. According to this invention, the vehicle yaw is estimated based on the measured speeds of the un-driven wheels of the vehicle, and various other conditions are utilized to determine if the estimated yaw rate is valid for control purposes. When it is determined that the estimated yaw rate is valid, a closed-loop yaw rate feedback control strategy is employed, whereas in conditions under which it is determined that the estimated yaw rate is not valid, a different control strategy, such as an open-loop feed-forward control of vehicle yaw, is employed.
According to the invention, the validity of the estimated yaw rate is judged based on a logical analysis of the measured wheel speed information, braking information, and steering wheel angle. The measured speeds of the un-driven wheels are used to compute an average un-driven wheel speed and an average un-driven wheel acceleration. The operator steering angle and the vehicle velocity may be used to determine a desired yaw rate, which is compared to the yaw estimate to find a yaw rate error. Based on these variables, the control reliably determines whether the estimated yaw rate is valid, and selects an appropriate control methodology in accordance with the determination.
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Chin-Woei Lin William
Ghoneim Youssef Ahmed
Sidlosky David Michael
Cuchlinski Jr. William A.
DeVries Christopher
General Motors Corporation
Mancho Ronnie
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