Vehicle yaw control based on yaw rate estimate
US6205391A · kind A · utility
Assignees
Inventors
Key dates
| Filing date | May 18, 1998 |
| Grant date | Mar 20, 2001 |
| Priority date | — |
| Expiry date | May 18, 2018 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60T2270/313
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
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. 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. 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 are used to determine a desired yaw rate, which is compared to the yaw estimate to find a yaw rate error. Based on these varia…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.