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GB2428754B - Control system for a vehicle - Google Patents

Control system for a vehicle

Info

Publication number
GB2428754B
GB2428754B GB0515790A GB0515790A GB2428754B GB 2428754 B GB2428754 B GB 2428754B GB 0515790 A GB0515790 A GB 0515790A GB 0515790 A GB0515790 A GB 0515790A GB 2428754 B GB2428754 B GB 2428754B
Authority
GB
United Kingdom
Prior art keywords
yaw rate
vehicle
target
friction
feedback controller
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
GB0515790A
Other versions
GB2428754A (en
GB0515790D0 (en
Inventor
Matthew J Hancock
Francis Assadian
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ford Global Technologies LLC
Original Assignee
Ford Global Technologies LLC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Ford Global Technologies LLC filed Critical Ford Global Technologies LLC
Priority to GB0515790A priority Critical patent/GB2428754B/en
Publication of GB0515790D0 publication Critical patent/GB0515790D0/en
Priority to DE102006031063A priority patent/DE102006031063A1/en
Publication of GB2428754A publication Critical patent/GB2428754A/en
Application granted granted Critical
Publication of GB2428754B publication Critical patent/GB2428754B/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/103—Side slip angle of vehicle body
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K23/00—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for
    • B60K23/04—Arrangement or mounting of control devices for vehicle transmissions, or parts thereof, not otherwise provided for for differential gearing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K28/00—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions
    • B60K28/10—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle 
    • B60K28/16—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle  responsive to, or preventing, spinning or skidding of wheels
    • B60K28/165—Safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles, e.g. preventing fuel supply or ignition in the event of potentially dangerous conditions responsive to conditions relating to the vehicle  responsive to, or preventing, spinning or skidding of wheels acting on elements of the vehicle drive train other than the propulsion unit and brakes, e.g. transmission, clutch, differential
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/068—Road friction coefficient
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/05—Attitude
    • B60G2400/052—Angular rate
    • B60G2400/0523—Yaw rate
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/90—System Controller type
    • B60G2800/95—Automatic Traction or Slip Control [ATC]
    • B60G2800/952—Electronic driving torque distribution

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Arrangement And Mounting Of Devices That Control Transmission Of Motive Force (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Arrangement And Driving Of Transmission Devices (AREA)
  • Retarders (AREA)

Abstract

A control module 12 comprises a friction estimator 18 that computes from information provided by on-board sensors an estimated value of the friction between a vehicle's tyres and the ground over which the vehicle is travelling. The friction estimator 18 has an output which is connected to an input of a target yaw rate generator 19 and from information supplied by a vehicle speed sensor (13, fig 1), steering angle sensor (17) and friction estimator 18, the target yaw rate generator computes a target (desired) yaw rate. A feedback controller 20 compares an actual vehicle yaw rate, measured by a yaw rate sensor (15), with the target yaw rate. The feedback controller 20, on comparing the two yaw rate values on its inputs detects if an oversteer condition exists. If this is the case an error signal is generated by the feedback controller 20 and this signal is applied to an electric motor (11) which controls a clutch (10) in an active limited slip differential (9) in order to control the yaw stability of the vehicle. In another embodiment the control module 12 includes a feedforward controller (26, fig 3) and a summer (25).
GB0515790A 2005-08-01 2005-08-01 Control system for a vehicle Expired - Fee Related GB2428754B (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
GB0515790A GB2428754B (en) 2005-08-01 2005-08-01 Control system for a vehicle
DE102006031063A DE102006031063A1 (en) 2005-08-01 2006-07-05 Control system for a vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB0515790A GB2428754B (en) 2005-08-01 2005-08-01 Control system for a vehicle

Publications (3)

Publication Number Publication Date
GB0515790D0 GB0515790D0 (en) 2005-09-07
GB2428754A GB2428754A (en) 2007-02-07
GB2428754B true GB2428754B (en) 2010-12-29

Family

ID=34983868

Family Applications (1)

Application Number Title Priority Date Filing Date
GB0515790A Expired - Fee Related GB2428754B (en) 2005-08-01 2005-08-01 Control system for a vehicle

Country Status (2)

Country Link
DE (1) DE102006031063A1 (en)
GB (1) GB2428754B (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113104037A (en) * 2019-12-24 2021-07-13 浙江吉利汽车研究院有限公司 Method and system for determining steering angle of vehicle steering wheel

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FI124059B (en) 2008-09-19 2014-02-28 Aalto Korkeakoulusaeaetioe Improvement in vehicle operating system
CN102114840A (en) * 2011-01-20 2011-07-06 浙江吉利汽车研究院有限公司 Driving safety control device on road surface change
KR20150128046A (en) * 2014-05-08 2015-11-18 현대모비스 주식회사 SYSTEM AND METHOD FOR CONTROLLING VEHICLE WHEEL USING iTire SENSOR

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2290884A (en) * 1994-06-27 1996-01-10 Fuji Heavy Ind Ltd Torque distribution control system
US20020153770A1 (en) * 2001-04-24 2002-10-24 Fuji Jukogyo Kabushiki Kaisha Vehicle behavior control apparatus
EP1486391A1 (en) * 2003-06-11 2004-12-15 Fuji Jukogyo Kabushiki Kaisha Vehicle control device and vehicle control method
US20050085988A1 (en) * 2003-09-09 2005-04-21 Mitsubishi Jidosha Kogyo Kabushiki Kaisha Driving force distribution and controlling apparatus for vehicle and driving force distribution and controlling method for vehicle

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2290884A (en) * 1994-06-27 1996-01-10 Fuji Heavy Ind Ltd Torque distribution control system
US20020153770A1 (en) * 2001-04-24 2002-10-24 Fuji Jukogyo Kabushiki Kaisha Vehicle behavior control apparatus
EP1486391A1 (en) * 2003-06-11 2004-12-15 Fuji Jukogyo Kabushiki Kaisha Vehicle control device and vehicle control method
US20050085988A1 (en) * 2003-09-09 2005-04-21 Mitsubishi Jidosha Kogyo Kabushiki Kaisha Driving force distribution and controlling apparatus for vehicle and driving force distribution and controlling method for vehicle

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113104037A (en) * 2019-12-24 2021-07-13 浙江吉利汽车研究院有限公司 Method and system for determining steering angle of vehicle steering wheel

Also Published As

Publication number Publication date
DE102006031063A1 (en) 2007-02-15
GB2428754A (en) 2007-02-07
GB0515790D0 (en) 2005-09-07

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Legal Events

Date Code Title Description
PCNP Patent ceased through non-payment of renewal fee

Effective date: 20200801