Vehicle stability enhancement control
A side-slip velocity estimation module for a vehicle stability enhancement control system includes a side-slip acceleration estimation module that determines an estimated side-slip acceleration of a vehicle. A limited-frequency integrator integrates the estimated side-slip acceleration to determine an estimated side-slip velocity of the vehicle. A reset logic module clears an output of the limited-frequency integrator when a first condition occurs. The first condition is one of a straight-driving condition, a speed condition, and a sensor bias condition. The estimated side-slip velocity is compared to a desired side-slip velocity to produce a side-slip control signal. The side-slip control signal is combined with a yaw rate control signal to produce an actuator control signal. The actuator control signal is received by one of at least one brake actuator and a rear-wheel steering actuator to create a yaw moment to correct a dynamic behavior of the vehicle.
1. A side-slip velocity estimation module for a vehicle stability enhancement control system, comprising:
a side-slip acceleration estimation module that determines an estimated side-slip acceleration of a vehicle;
a limited-frequency integrator that integrates said estimated side-slip acceleration to determine an estimated side-slip velocity of said vehicle; and
a reset logic module that clears an output of said limited-frequency integrator when a first condition occurs.
2. The side-slip velocity estimation module of claim 1 wherein said estimated side-slip acceleration is determined based on a yaw rate, a lateral acceleration, and a speed of said vehicle.
3. The side-slip velocity estimation module of claim 1 wherein said first condition is a straight-driving condition that is determined based on a yaw rate, a lateral acceleration, and an angle of a steering wheel of said vehicle.
4. The side-slip velocity estimation module of claim 1 wherein said first condition is a speed condition that is based on a speed of said vehicle.
5. The side-slip velocity estimation module of claim 1 wherein said first condition is a sensor bias condition that is based on said estimated side-slip acceleration.
6. The side-slip velocity estimation module of claim 1 wherein said limited-frequency integrator includes a high-pass filter.
7. The side-slip velocity estimation module of claim 1 wherein said limited-frequency integrator includes a feedback loop.
8. The side-slip velocity estimation module of claim 1 wherein said estimated side-slip velocity is compared to a desired side-slip velocity to produce a side-slip control signal.
9. The side-slip velocity estimation module of claim 8 wherein said side-slip control signal is combined with a yaw rate control signal to produce an actuator control signal.
10. The side-slip velocity estimation module of claim 9 wherein said actuator control signal is received by at least one brake actuator that applies a brake pressure difference across at least one axle of said vehicle to create a yaw moment to correct a dynamic behavior of said vehicle.
11. A side-slip velocity estimation module for a vehicle stability enhancement control system, comprising:
a side-slip acceleration estimation module that determines an estimated side-slip acceleration of a vehicle; and
a limited-frequency integrator that integrates said estimated side-slip acceleration to determine an estimated side-slip velocity of said vehicle,
wherein said estimated side-slip velocity is compared to a desired side-slip velocity to produce a side-slip control signal, said side-slip control signal is combined with a yaw rate control signal to produce an actuator control signal, and said actuator control signal is received by a rear-wheel steering actuator that turns a set of rear wheels of said vehicle to create a yaw moment to correct a dynamic behavior of said vehicle.
12. A method of side-slip velocity estimation for a vehicle stability enhancement control system, comprising:
determining an estimated side-slip acceleration of a vehicle;
integrating said estimated side-slip acceleration to determine an estimated side-slip velocity of said vehicle, wherein said estimated side-slip acceleration is integrated with a limited-frequency integrator; and
clearing an output of said limited-frequency integrator when a first condition occurs.
13. The method of claim 12 wherein said estimated side-slip acceleration is determined based on a yaw rate, a lateral acceleration, and a speed of said vehicle.
14. The method of claim 12 wherein said first condition is a straight-driving condition that is determined based on a yaw rate, a lateral acceleration, and an angle of a steering wheel of said vehicle.
15. The method of claim 12 wherein said first condition is a speed condition that is based on a speed of said vehicle.
16. The method of claim 12 wherein said first condition is a sensor bias condition that is based on said estimated side-slip acceleration.
17. The method of claim 12 wherein said limited-frequency integrator includes a high-pass filter.
18. The method of claim 12 wherein said limited-frequency integrator includes a feedback loop.
19. The method of claim 12 further comprising:
comparing said estimated side-slip velocity to a desired side-slip velocity to produce a side-slip control signal.
20. The method of claim 19 , further comprising:
combining said side-slip control signal with a yaw-rate control signal to produce an actuator control signal.
21. The method of claim 20 , further comprising:
transmitting said actuator control signal to at least one brake actuator; and
applying a brake pressure difference across at least one axle of said vehicle to create a yaw moment to correct a dynamic behavior of said vehicle.
22. A method of side-slip velocity estimation for a vehicle stability enhancement control system, comprising:
determining an estimated side-slip acceleration of a vehicle;
integrating said estimated side-slip acceleration to determine an estimated side-slip velocity of said vehicle, wherein said estimated side-slip acceleration is integrated with a limited-frequency integrator;
comparing said estimated side-slip velocity to a desired side-slip velocity to produce a side-slip control signal;
combining said side-slip control signal with a yaw-rate control signal to produce an actuator control signal;
transmitting said actuator control signal to a rear-wheel steering actuator; and
turning a set of rear wheels of said vehicle to create a yaw moment to correct a dynamic behavior of said vehicle.
23. A method of side-slip velocity estimation for a vehicle stability enhancement control system, comprising:
determining an estimated side-slip acceleration of a vehicle based on a yaw rate, a lateral acceleration, and a speed of said vehicle;
integrating said estimated side-slip acceleration to determine an estimated side-slip velocity of said vehicle, wherein said estimated side-slip acceleration is integrated with a limited-frequency integrator; and
clearing an output of said limited-frequency integrator when a first condition occurs, wherein said first condition is at least one of a straight-driving condition, a speed condition, and a sensor bias condition.