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

_

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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

r. v1. v1}, <5"

Steering i 0 3+

Pacejkas

Input

Tire Model

Vehicle
F

Yaw/Roll Model
T

Nonlinear Vehicle Model

if,

p} V: V10 V12,

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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