A stability control system (18) for an automotive vehicle includes a plurality of sensors (28-39) sensing the dynamic conditions of the vehicle. The sensors may include a speed sensor (20), a lateral acceleration sensor (32), a roll rate sensor (34), a yaw rate sensor (20) and a longitudinal acceleration sensor (36). The controller (26) is coupled to the speed sensor (20), the lateral acceleration sensor (32), the roll rate sensor (34), the yaw rate sensor (28) and a longitudinal acceleration sensor (36). The controller (26) determines a global roll attitude and a global pitch attitude from the roll rate, lateral acceleration signal and the longitudinal acceleration signal. The controller determines a roll gradient based upon a past raw roll rate and current raw roll rate, the roll angular rate signal and the lateral acceleration signal, a pitch gradient based upon a past raw pitch rate and current raw pitch rate the calculated pitch angular rate signal and the longitudinal acceleration signal. The controller determines a relative roll and relative pitch as a function of the roll gradient and the pitch gradient.
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0. 27. A method of controlling a safety system for a vehicle body of an automotive vehicle comprising:
measuring a roll rate of the vehicle body;
measuring a lateral acceleration of the vehicle body;
measuring a yaw rate of the vehicle body; and
determining a relative roll angle, a global roll angle in response to the roll rate, the yaw rate and the lateral acceleration.
0. 40. A method of controlling a safety system for a vehicle body of an automotive vehicle comprising:
measuring a roll rate of the vehicle body;
measuring a longitudinal acceleration of the vehicle body;
measuring a yaw rate of the vehicle body; and
determining a relative pitch angle, a global pitch angle in response to the roll rate, the yaw rate, and the longitudinal acceleration.
14. A method of controlling a safety system for a vehicle body of an automotive vehicle comprising:
measuring a roll rate of the vehicle body;
measuring a lateral acceleration of the vehicle body;
measuring a longitudinal acceleration of the vehicle body;
measuring a yaw rate of the vehicle body; and
determining a relative roll angle, a relative pitch angle, a global roll and a global pitch angle in response to the roll rate, the yaw rate, the lateral acceleration and the longitudinal acceleration.
0. 24. A method of controlling a rollover system for a vehicle body of an automotive vehicle comprising:
measuring a roll rate of the vehicle body;
measuring a lateral acceleration of the vehicle body;
measuring a longitudinal acceleration of the vehicle body;
measuring a yaw rate of the vehicle body;
determining a global roll attitude from the roll rate, lateral acceleration and the longitudinal acceleration;
determining a roll gradient based upon a past raw roll rate, the roll rate signal and the lateral acceleration signal;
determining a relative roll angle based upon said roll gradient;
activating a safety device in response to the relative roll angle and the global roll.
0. 37. A method of controlling a rollover system for a vehicle body of an automotive vehicle comprising:
measuring a roll rate of the vehicle body;
measuring a lateral acceleration of the vehicle body;
measuring a longitudinal acceleration of the vehicle body;
measuring a yaw rate of the vehicle body;
determining a calculated pitch rate signal from the yaw rate, the roll rate, the lateral acceleration and the longitudinal acceleration;
determining a global pitch angle from the calculated pitch angular rate, lateral acceleration and the longitudinal acceleration;
determining a pitch gradient based upon a past raw pitch rate and calculated pitch rate and the longitudinal acceleration signal;
determining a relative pitch angle based upon said pitch gradient; and
activating a safety device in response to the relative roll angle, the relative pitch angle, the global roll and global pitch angle.
0. 17. A control system for an automotive vehicle having a vehicle body comprising:
a roll angular rate sensor generating a roll angular rate signal corresponding to a roll angular motion of the vehicle body;
a yaw angular rate sensor generating a yaw motion signal corresponding to a yaw motion of the vehicle body;
a lateral accelerometer generating a lateral acceleration signal corresponding to a lateral acceleration of a center of gravity of the vehicle body;
a wheel speed sensor generating a wheel speed signal corresponding to a wheel speed of the vehicle; and
a controller coupled to said roll angular rate sensor, said yaw angular rate sensor, said lateral accelerometer and said wheel speed sensor, said controller determining a roll gradient based upon a past raw roll rate and current raw roll rate, the roll angular rate signal and the lateral acceleration signal, determining a relative roll angle as a function of the roll gradient.
0. 15. A control system for an automotive vehicle having a vehicle body comprising:
a first angular rate sensor generating a first angular rate signal corresponding to a first angular motion of the vehicle body;
a second angular rate sensor generating a second angular rate signal corresponding to a second angular motion of the vehicle body;
a lateral accelerometer generating a lateral acceleration signal corresponding to a lateral acceleration of a center of gravity of the vehicle body;
a wheel speed sensor generating a wheel speed signal corresponding to a wheel speed of the vehicle; and
a controller coupled to said first angular rate sensor, said second angular rate sensor, said lateral accelerometer and said wheel speed sensor, said controller determining a roll gradient based upon a past raw roll rate and current raw roll rate, the first angular rate signal or the second angular rate signal and the lateral acceleration signal, determining a relative roll as a function of the roll gradient.
0. 28. A control system for an automotive vehicle having a vehicle body comprising:
a first angular rate sensor generating a first angular rate signal corresponding to a first angular motion of the vehicle body;
a second angular rate sensor generating a second angular rate signal corresponding to a second angular motion of the vehicle body;
a longitudinal accelerometer generating a longitudinal acceleration signal corresponding to the longitudinal acceleration of the center of gravity of the vehicle body;
a wheel speed sensor generating a wheel speed signal corresponding to a wheel speed of the vehicle; and
a controller coupled to said first angular rate sensor, said second angular rate sensor, said longitudinal accelerometer, and said wheel speed sensor, said controller determining a pitch gradient based upon a past raw pitch rate and current raw pitch rate, the first or second angular rate signal and the longitudinal acceleration signal, determining a relative roll and relative pitch as a function of the pitch gradient.
10. A method of controlling a rollover system for a vehicle body of an automotive vehicle comprising:
measuring a roll rate of the vehicle body;
measuring a lateral acceleration of the vehicle body;
measuring a longitudinal acceleration of the vehicle body;
measuring a yaw rate of the vehicle body;
determining a calculated pitch rate signal from the yaw rate, the roll rate, the lateral acceleration and the longitudinal acceleration;
determining a global roll attitude and a global pitch attitude from the calculated pitch angular rate, the roll rate, lateral acceleration and the longitudinal acceleration;
determining a roll gradient based upon a past raw roll rate, the roll rate signal and the lateral acceleration signal;
determining a relative roll angle based upon said roll gradient;
determining a pitch gradient based upon a past raw pitch rate and calculated pitch rate and the longitudinal acceleration signal;
determining a relative pitch angle based upon said pitch gradient; and
activating a safety device in response to the relative roll angle, the relative pitch angle, the global roll and global pitch angle.
0. 30. A control system for an automotive vehicle having a vehicle body comprising:
a roll angular rate sensor generating a roll angular rate signal corresponding to a roll angular motion of the vehicle body;
a yaw angular rate sensor generating a yaw motion signal corresponding to a yaw motion of the vehicle body;
a longitudinal accelerometer generating a longitudinal acceleration signal corresponding to the longitudinal acceleration of the center of gravity of the vehicle body;
a wheel speed sensor generating a wheel speed signal corresponding to a wheel speed of the vehicle; and
a controller coupled to said roll angular rate sensor, said yaw angular rate sensor, said longitudinal accelerometer, and said wheel speed sensor, said controller determining a pitch rate in response to said roll angular rate signal, said yaw motion signal, said longitudinal acceleration signal, and said wheel speed signal, said controller determining a pitch gradient based upon a past raw pitch rate and current raw pitch rate, the calculated pitch angular rate signal and the longitudinal acceleration signal, determining a relative pitch angle as a function of the pitch gradient.
1. A control system for an automotive vehicle having a vehicle body comprising:
a first angular rate sensor generating a first angular rate signal corresponding to a first angular motion of the vehicle body;
a second angular rate sensor generating a second angular rate signal corresponding to a second angular motion of the vehicle body;
a lateral accelerometer generating a lateral acceleration signal corresponding to a lateral acceleration of a center of gravity of the vehicle body;
a longitudinal accelerometer generating a longitudinal acceleration signal corresponding to the longitudinal acceleration of the center of gravity of the vehicle body;
a wheel speed sensor generating a wheel speed signal corresponding to a wheel speed of the vehicle; and
a controller coupled to said first angular rate sensor, said second angular rate sensor, said lateral accelerometer, said longitudinal accelerometer, and said wheel speed sensor, said controller determining a roll gradient based upon a past raw roll rate and current raw roll rate, the first angular rate signal or the second angular rate signal and the lateral acceleration signal, a pitch gradient based upon a past raw pitch rate and current raw pitch rate, the first or second angular rate signal and the longitudinal acceleration signal, determining a relative roll and relative pitch as a function of the roll gradient and the pitch gradient.
3. A control system for an automotive vehicle having a vehicle body comprising:
a roll angular rate sensor generating a roll angular rate signal corresponding to a roll angular motion of the vehicle body;
a yaw angular rate sensor generating a yaw motion signal corresponding to a yaw motion of the vehicle body;
a lateral accelerometer generating a lateral acceleration signal corresponding to a lateral acceleration of a center of gravity of the vehicle body;
a longitudinal accelerometer generating a longitudinal acceleration signal corresponding to the longitudinal acceleration of the center of gravity of the vehicle body;
a wheel speed sensor generating a wheel speed signal corresponding to a wheel speed of the vehicle; and
a controller coupled to said roll angular rate sensor, said yaw angular rate sensor, said lateral accelerometer, said longitudinal accelerometer, and said wheel speed sensor, said controller determining a pitch rate in response to said roll angular rate signal, said yaw motion signal, said lateral acceleration signal, said longitudinal acceleraton signal, and said wheel speed signal, said controller determining a roll gradient based upon a past raw roll rate and current raw roll rate, the roll angular rate signal and the lateral acceleration signal: a pitch gradient based upon a past raw pitch rate and current raw pitch rate, the calculated pitch angular rate signal and the longitudinal acceleration signal, determining a relative roll and relative pitch as a function of the roll gradient and the pitch gradient.
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The present invention relates generally to a control apparatus for controlling a system of an automotive vehicle in response to sensed dynamic behavior, and more specifically, to a method and apparatus for controlling the system of the vehicle by determining attitude of the vehicle.
Dynamic control systems for automotive vehicles have recently begun to be offered on various products. Dynamic control systems typically control the yaw of the vehicle by controlling the braking effort at the various wheels of the vehicle. Yaw control systems typically compare the desired direction of the vehicle based upon the steering wheel angle and the direction of travel. By regulating the amount of braking at each corner of the vehicle, the desired direction of travel may be maintained. Typically, the dynamic control systems do not address roll of the vehicle. For high profile vehicles in particular, it would be desirable to control the rollover characteristic of the vehicle to maintain the vehicle position with respect to the road. That is, it is desirable to maintain contact of each of the four tires of the vehicle on the road.
In vehicle rollover control, it is desired to alter the vehicle attitude such that its motion along the roll direction is prevented from achieving a predetermined limit (rollover limit) with the aid of the actuation from the available active systems such as controllable brake system, steering system and suspension system. Although the vehicle attitude is well defined, direct measurement is usually impossible.
There are two types of vehicle attitudes needed to be distinguished. One is the so-called global attitude, which is sensed by the angular rate sensors. The other is the relative attitude, which measures the relative angular positions of the vehicle with respect to the road surface on which the vehicle is driven. The global attitude of the vehicle is relative to an earth frame (or called the inertia frame), sea level, or a flat road. It can be directly related to the three angular rate gyro sensors. While the relative attitude of the vehicle measures the relative angular positions of the vehicle with respect to the road surface, which are always of various terrains. Unlike the global attitude, there are no gyro-type sensors which can be directly related to the relative attitude. A reasonable estimate is that a successful relative attitude sensing system must utilize both the gyro-type sensors (when the road becomes flat, the relative attitude sensing system recovers the global attitude) and some other sensor signals.
One reason to distinguish relative and global attitude is due to the fact that vehicles are usually driven on a 3-dimensional road surface of different terrains, not always on a flat road surface. Driving on a road surface with large road bank does increase the rollover tendency, i.e., a large output from the global attitude sensing system might well imply an uncontrollable rollover event regardless of the flat road driving and the 3-D road driving. However driving on a three-dimensional road with moderate road bank angle, the global attitude may not be able to provide enough fidelity for a rollover event to be distinguished. Vehicular rollover happens when one side of the vehicle is lifted from the road surface with a long duration of time without returning back. If a vehicle is driven on a banked road, the global attitude sensing system will pick up certain attitude information even when the vehicle does not experience any wheel lifting (four wheels are always contacting the road surface). Hence a measure of the relative angular positions of the vehicle with respect to the portion of the road surface on which the vehicle is driven provides more fidelity than global attitude to sense the rollover event.
The vehicle rollover sensing system used for deploying safety-related devices has been proposed in U.S. Pat. Nos. 6,002,975, 6,038,495, EP 1002709A2, where a stand-alone sensor module including 5 sensors are used including the roll/pitch angular rate sensors, later/longitudinal/vertical acceleration sensors. These systems sense the global attitude of a vehicle without considering the relative attitude of the vehicle with respect to the road surfaces. Due to the stand-alone nature of the sensing module, it does not share internal information with vehicle dynamics control systems.
The rollover control system using brake controls has been proposed in U.S. Pat. No. 6,065,558 (“Anti-Rollover Brake System”), where the claimed sensor setting could be any of the following: (1) a lateral accelerometer; (2) a sensor for measuring the body roll angle; (3) an accelerometer, a gyroscope, a roll rate senor, and sensors measuring the distances between the vehicle and the wheels to measure the roll angle of the vehicle. In the current invention, a different sensor set is used. The used sensors includes those used in the vehicle yaw stability control (lateral/longitudinal accelerometers, yaw angular rate sensor, wheel speeds and steering angle) and an extra roll rate angular sensor. Also, notice that U.S. Pat. No. 6,065,558 does not intend to distinguish between global and relative attitude of a vehicle reflected by the Euler angles.
Another vehicle attitude sensing method has been proposed in U.S. Pat. No. 5,408,411 (“System For Predicting Behavior Of Automotive Vehicle And For Controlling Vehicular Behavior Based Thereon”). Where a sensor module using six linear accelerations is mounted on the vehicle to get vehicular attitude information.
It would therefore be desirable to provide an attitude control system to predict attitude angle for vehicle dynamics control that includes the interdependency among the roll, pitch and yaw motions while compensating for long term maneuvers.
The present invention aims to estimate and predict the vehicular attitude used in a rollover control system which can prevent the vehicle from rolling over. The estimate and predicted variables are used for setting a rollover control action flag and as the feedback signals to construct the desired control forces for controlling roll stability or activate other safety devices. In detail, the rollover control action needs the information from the vehicle attitude sensing system, the available sensors, and the driving/road condition identifiers. The rollover control flag is set based on a rollover logic process. In case a positive determination of vehicle rollover is deemed from this rollover logic process, the control commands will be computed by feeding back the estimated vehicle attitude variables. The control command output is further sent to the ECU of the hardware to activate the system. In detail, the vehicle attitude sensing system uses all the sensors available for yaw stability control (including a Do
Let l be the half of the wheel track; tf and tr be the distances from the center of gravity of the car body to the front and rear axles; h be the distance between the bottom of the vehicle body and the center of gravity of the vehicle along the body z-axis; θxbr and θybr are the relative roll and pitch angles. Then in the body frame the four corners of the vehicle body where suspensions are connected with the wheel have the following coordination:
LF Corner: x=tf, y=l, z=−h
RF Corner: x=tf, y=−l, z=−h
LR Corner: x=−tr, y=l, z=−h
RR Corner: x=−tr, y=−l, z=−h (2)
Let zlf,zrf,zlr and zrr be the relative displacements of the vehicle corners at the left-front, right-front, left-rear and right-rear locations, which are measured along the direction perpendicular to the average road surface. By using the transformation in Equation (1), those corner displacements relative to the road surface can be expressed as the function of the relative roll and pitch angles θxbr and θybr
zlf=−tf sin(θybr)+l sin(θxbr)cos(θybr)+(zcg−h)cos(θxbr)cos(θybr)
zrf=−tf sin(θxbr)−l sin(θxbr)cos(θybr)+(zcg−h)cos(θxbr)cos(θybr)
zlr=tr sin(θybr)+l sin(θxbr)cos(θybr)+(zcg−h)cos(θybr)cos(θybr)
zrr=tr sin(θybr)−l sin(θxbr)cos(θybr)+(zcg−h)cos(θxbr)cos(θybr) (3)
where zcg is the relative displacement of the center of gravity of the vehicle with respect to the road surface, but measured along the body z-axis.
Referring now to
The linear combinations of zlf,zrf,zlr,zrr, which serve as bridges to connect θxbr and θybr with the available sensor signals are the following variables, which are called the relative roll and pitch gradients
Θx and Θy is related to the relative roll and pitch attitudes by manipulating the equations in (3). The final formula for the relative pitch Euler angle is
θybr=sin−1{Θy} (5)
and the final formula for the relative roll Euler angle θxbr is
On the other hand Θx and Θy can be further related to the available sensor signals through dynamic equations which describe the vehicle body dynamics. Θx and Θy will be first broken into two portions, and related to the sensor signals.
As shown in
zrf=srf+wrf
zlr=slr+wlr
zrr=srr+wrr (7)
The relative roll and pitch gradients Θx and Θy may be broken into pieces according to the suspension motion and the wheel vertical motion. The roll and the pitch gradients Θx-susp and Θy-susp due to suspension motions slf,srf,slf and srr may be defined as:
and the roll and pitch gradients Θx-whl and Θy-whl due to the wheel vertical motion defined as:
Then
Θx=Θx-susp+Θx-whl
The relative Euler angles Θxbr, and Θybr can be also written as two parts:
Since there are no restrictions in Equation (11), it is valid regardless of if the four wheels of the vehicle contact the road surface or lift from the road, as soon as the accurate characterization of the roll and pitch gradients Θx-susp and Θy-susp, and Θx-whl and Θy-whl are available. Hence in the following Θx-susp,Θy-susp,Θx-whl and Θy-whl may be computed based on the available sensor signals.
From the formula in Equation (8), the roll and pitch gradients Θx-susp and Θy-susp are related to the suspension stroke. The estimation schemes are sought for computing Θx-susp and Θy-susp from the available sensor signals.
Consider in Equation (3) that the distance differences between the left side corners and right side corners are equal, that is:
zlf−zrf=zlr−zrr (12)
or:
slf−srf=slr−srr+[wlf−wrr−wlf+wrf] (13)
Since the tire deflections are much smaller than the suspension stroke, from (13) it is reasonable to say
slf−srf>>slr−srr (14)
or rewrite this as:
Hence, for any given constant weight k, we have:
In the sequential discussion, the Equation (16) may be used to describe the roll gradient Θx-susp.
Θx-susp and Θy-susp must then be related to the available sensor signals. The following dynamic relationship which are obeyed by the car body through the Newton law described around the c.g. of the vehicle body
where Ix and Iy are the momentum of inertia of the car body with respect to the x and y axis respectively; Ms is the sprung mass (the mass of the car body); hx is the c.g. height of the car body with respect to the top of the suspension; Kf and Kr are the front and rear suspension spring rates with unit N/m. Kanti-roll-f and Kanti-roll-r are the stiffnesses for the front and the rear anti-roll bar, with unit Nm/rad. Df and Dr are the front and the rear suspension damper rates; Fxi is the ith suspension force applied to the car body along the body fixed direction b1, and Fyi is the ith suspension force applied to the car body along the body fixed direction b2.
Define a weight:
Since the damping rates are usually proportional to the spring rates for suspensions, it is reasonable to assume:
For a well balanced vehicle, the normal dead loading applied to the vehicle should not generate significant body attitude variation when the vehicle is parked on a flat road. That is, the roll and pitch attitude angles induced by the normal dead loading during flat road parking should be close to zero. For this reason, it is reasonable to assume the following holds:
trKr=tfKf (20)
Similar argument can be used for suspension damping rates.
Through algebraic manipulation the first two equations in Equation (17) can be rewritten as the following:
Using the definition of Θx-susp and Θy-susp, Equation (21) can be rewritten as:
{dot over (w)}y=d0ax+d1Θy-susp+d2{dot over (Θ)}y-susp
that is, Θx-susp(t) and Θy-susp(t) obeys the 1st order differential equations, and the coefficients c0,c1,c2,d0,d1 and d2 can be obtained by comparing Equation (21) and Equation (22). Although the analytical solution for Equation (22) are not hard to find, the solutions may be directly implemented in digital environment. On the other hand, the pitch rate signal is not measured, but an estimation of the pitch rate signal can be obtained as a function of the measured signals and the signals computed from the measured signals:
{dot over (w)}y={circumflex over (θ)}ysec({circumflex over (θ)}x)+wz tan({circumflex over (θ)}x) (23)
where {circumflex over (θ)}x and {circumflex over (θ)}y are the estimated global roll and pitch Euler angles of the vehicle body (with respect to the sea level). The details if this are described in U.S. application Ser. No.
{circumflex over (Θ)}y-susp(k+1)=f0{circumflex over (Θ)}y-susp(k)+f1[RPA_RAW(k+1)+RPA_RAW(k)] (25)
The wheel motion-induced roll and pitch gradients are usually much smaller than the suspension motion induced gradients due to the small tire deflections at each wheel/tire assembly. Therefore:
Θx-whl<<Θx-susp
Θy-whl<<Θy-susp (26)
or say:
Θx≈Θx-susp
Θy≈Θy-susp (27)
As described above, the present invention uses Equation (27) to approximately calculate the roll and pitch gradients. The relative roll and pitch attitude angles can be computed as in Equations (5) and (6).
Referring now to
While particular embodiments of the invention have been shown and described, numerous variations and alternate embodiments will occur to those skilled in the art. Accordingly, it is intended that the invention be limited only in terms of the appended claims.
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