公开(公告)号：US06325469B1

公开(公告)日：2001-12-04

申请号：US09230816

申请日：1999-09-07

申请人： Douglass L Carson ,  Ronald Paul ,  Michael D Rizzo ,  Stephen R Pastor ,  Duane E Bassett ,  Hsien H Chen ,  Yuen-Kwok Chin ,  Youssef A Ghoneim ,  Hong X Hu ,  Alan J Lee ,  William C Lin ,  Michael P Turski

发明人： Douglass L Carson ,  Ronald Paul ,  Michael D Rizzo ,  Stephen R Pastor ,  Duane E Bassett ,  Hsien H Chen ,  Yuen-Kwok Chin ,  Youssef A Ghoneim ,  Hong X Hu ,  Alan J Lee ,  William C Lin ,  Michael P Turski

IPC分类号： B60T824

CPC分类号： B60T8/1755

摘要： A brake system control for use in a vehicle with four wheels comprising the steps of: determining a desired yaw rate (454); determining a yaw torque command responsive to the desired yaw rate (806); if the vehicle is in an anti-lock braking mode during driver commanded braking, applying the yaw torque command to only one of the four wheels to release brake pressure in said one of the four wheels (258-266, 274, 278, 280, 410-418); if the vehicle is in a positive acceleration traction control mode during driver commanded acceleration, applying the yaw torque command to only one of the four wheels to apply brake pressure in said one of the four wheels (258-266, 288-292, 410-418); and if the vehicle is not in the anti-lock braking mode or in the positive acceleration traction control mode, then: (i) determining whether a vehicle brake pedal is depressed (370); (ii) if the vehicle brake pedal is depressed, applying brake force to the vehicle wheels responsive to the depression of the brake pedal (374, 412, 418), wherein the applied brake force is modified to at least two of the vehicle wheels to create a left-right brake torque differential responsive to the yaw torque command.

摘要翻译： 一种用于具有四个车轮的车辆的制动系统控制器，包括以下步骤：确定期望的偏航率（454）; 响应于所需的偏航率（806）确定偏航扭矩指令; 如果车辆在驾驶员指令制动期间处于防抱死制动模式，则将偏航转矩指令应用于四个车轮中的一个车轮，以释放所述四个车轮（258-266,274,278,280,280）中的一个车轮中的制动压力， 410-418）; 如果车辆在驾驶员指令加速期间处于正加速牵引力控制模式，则将偏航转矩指令仅施加到四个车轮中的一个车轮上，以将四个车轮（258-266,288-292,410- 418）; 并且如果车辆不处于防抱死制动模式或正加速牵引力控制模式，则：（i）确定车辆制动踏板是否被压下（370）; （ii）如果所述车辆制动踏板被压下，则响应于所述制动踏板（374,412,418）的下压而向所述车辆车轮施加制动力，其中所施加的制动力被修改为所述车辆车轮中的至少两个， 响应于偏航扭矩命令产生左右制动扭矩差。

公开(公告)号：US06212460B1

公开(公告)日：2001-04-03

申请号：US09230824

申请日：1999-07-29

申请人： Michael D Rizzo ,  Douglass L Carson ,  Stephen R Pastor ,  Ronald Paul ,  Duane E Bassett ,  Gordon L Tierney

发明人： Michael D Rizzo ,  Douglass L Carson ,  Stephen R Pastor ,  Ronald Paul ,  Duane E Bassett ,  Gordon L Tierney

IPC分类号： G06F770

CPC分类号： B60T8/1755 ,  B60L3/0076 ,  B60L3/108 ,  B60L7/26 ,  B60L2240/16 ,  B60L2240/18 ,  B60L2240/22 ,  B60L2240/24 ,  B60L2240/461 ,  B60L2240/463 ,  B60L2240/465 ,  B60T2210/22

摘要： In a vehicle with an active brake control system a control method comprising to the steps of: determining individual wheel speeds of the vehicle wheels responsive to sensor output signals (1016, 1018); determining a vehicle reference velocity responsive to the individual wheel speeds (1002-1012); measuring vehicle yaw rate (1128); determining a delta velocity for each wheel responsive to the individual wheel speed for the wheel and the vehicle reference velocity (326); and when the active brake control system is in the active state for at least one of the wheels, (a) setting a base delta velocity for the one wheel equal to the delta velocity for the one wheel immediately prior to the active brake control obtaining the active state for the one wheel (200); (b) determining a control term responsive to the measured vehicle yaw rate (806), wherein the control term represents a desired delta velocity for the one wheel; (c) setting a first target change in delta velocity responsive to the base delta velocity and the control term (204); and (d) controlling a first wheel brake for the one wheel so that a difference between the delta velocity for the one wheel and the desired delta velocity for the one wheel is minimized (208).

摘要翻译： 在具有主动制动控制系统的车辆中，控制方法包括以下步骤：响应于传感器输出信号（1016,1018）确定车轮的各个车轮速度; 响应于各个车轮速度确定车辆参考速度（1002-1012）; 测量车辆偏航率（1128）; 响应于车轮的各个车轮速度和车辆参考速度确定每个车轮的增量速度（326）; 并且当主动制动控制系统对于至少一个车轮处于活动状态时，（a）在主动制动器控制之前立即将一个车轮的基准三角速度设置为等于一个车轮的三角速度获得 一轮（200）的活动状态; （b）确定响应于所测量的车辆横摆角速度（806）的控制项，其中所述控制项表示所述一个车轮所需的增量速度; （c）响应于所述基准三角洲速度和所述控制项（204），设定Δ速度的第一目标变化; 和（d）控制用于一个车轮的第一车轮制动器，使得一个车轮的三角速度与一个车轮的期望的三角速度之间的差最小化（208）。