US008762004B2
(12)
United States Patent
(10) Patent N0.:
(45) Date of Patent:
Khajepour et a].
(54)
VEHICLE DYNAMIC CONTROL USING
PULSED ACTIVE STEERING STRATEGY
(76)
Inventors: Amir Khajepour, Waterloo (CA);
Ch
Ch . t
6' e
h K
5 0P
T -
(56)
)3
J 01111 Joseph McPhee, Waterloo (CA)
Notice:
Subject to any disclaimer, the term of this
(22)
F'l d:
1e
(65)
. 3 2007
g
4,828,061 A *
5/1989
5,552,789 A *
9/1996 Schuermann .............. .. 340/521
Klmbrough et a1. ........ .. 180/413
5,610,575 A *
3/1997 Gioutsos .......... ..
340/429
5,778,327 A *
7/1998
. 701/23
U30 1540) by 447 days'
Appl- NO-I 11/833,815
References Cited
Simmons ct a1.
6,138,787 A * 10/2000 Miotto
patent is extended or adjusted under 35
(21)
Jun. 24, 2014
U.S. PATENT DOCUMENTS
_
- TW _
alpel (
US 8,762,004 B2
180/405
5:121ugawa
~~~~~~ ~~
..... ..
7,165,008 B2 *
2003/0024759 A1*
2003/0033486 A1 *
1/2007 c1101 ................ ..
2/2003 Williams ct a1.
2/2003 Mizrachi et a1.
2004/0128060 A1*
7/2004
702/141
180/443
.. 711/133
Park ............................ .. 701/124
* cited by examiner
Prior Publication Data
Primary Examiner * Redhwan K Mawari
Us 2008/0033615 A1
Feb' 7 2008
(74) Attorney, Agent, or Firm * Daryl W. Schnurr
Related US. Application Data
.
(60) Prowslonal appl1cat10n No. 60/835,082, ?led on Aug.
3, 2006
(51)
(52)
(58)
Int, Cl,
A01B 69/00
(2006.01)
us CL
USPC ................. .. 701/42; 701/41; 701/45; 701/70;
(57)
ABSTRACT
A pulse active steering control system and method for use in
a motor vehicle for improving vehicle stability by reducing a
likelihood for rollover and/or skidding sends pulses to the
steerable Wheels Whenever a rollover coei?cient and/or the
difference between the estimated and actual yaW rate is out
side a predetermined range The Pulses are asymmetrical in
701/71; 701/91; 701/38; 701/74; 701/79;
the form ofa smooth curve With a gradually increasing rapid
701/124; 180/443; 180/446; 180/444; 180/405;
rising edge and a slower falling edge and provide steering
180/402; 280/5 51
input that, along With the driver steering input, returns the
Field of Classi?cation Search
USPC ______ __ 701/41, 42 70 71, 74, 79, 91; 180/443
rollover coef?cient and/or yaW rate to the predetermined
range to reduce the likelihood of rollover and/or skidding.
180/446, 444, 402; 280/551
See application ?le for complete search history.
15 Claims, 58 Drawing Sheets
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Input
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Vehicle
F
Yaw/Roll Model
T
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if,
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PD
Rollover
Controlier
Estimator
Active Steering Controiler
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N0
Is RC greater than
the threshetd'?
Yes
"
Calculate R error
i
Is pulse generator on
aiready?
No i
LYes
Turn pulse generator
Continue previous
011 to start a new pulse
pulse cycle
t
Modify the ampttude and
direction of the pulse with
respect to the current steering
input and R error
Turn the Puise
generator eff
YES
i
is the puise eye-1e finished?
Extra Steering
I'
Extra steering to modify original l
driver steering input
FIGURE 14
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