Active front steer control for vehicle stability enhancement
View Patent ↗An AFS control system that combines and weights yaw rate feedback and side-slip rate feedback to provide increased vehicle stability enhancement control. The AFS system includes a yaw rate sub-system that generates a desired yaw rate signal. The AFS system also includes a side-slip rate sub-system that generates a desired side-slip rate feedback signal. The AFS system further includes a side-slip rate feedback sub-system that generates a side-slip rate feedback signal. The AFS system also includes a yaw rate feedback sub-system that generates a yaw rate feedback signal. The yaw rate feedback signal and the side-slip rate feedback signal are integrated in a control integration sub-system that generates a stability enhancement control signal. The control integration sub-system determines whether the vehicle is in an oversteer or understeer condition, and weights the desired yaw rate feedback signal accordingly based on the vehicle condition.
1. A method for providing active front steering for a vehicle, said method comprising:
providing a vehicle speed signal of the vehicle;
providing a lateral acceleration signal of the lateral acceleration of the vehicle;
providing an actual yaw rate signal of the actual yaw rate of the vehicle;
providing a steering angle signal indicative of the vehicle operator's desired steering direction;
determining a desired yaw rate of the vehicle based on the steering angle signal and the vehicle speed signal;
determining a desired side-slip rate of the vehicle based on the steering angle signal and the vehicle speed signal;
determining a yaw rate feedback signal based on the desired yaw rate signal and the actual yaw rate signal;
determining a side-slip rate feedback signal based on the desired side-slip rate signal, the vehicle speed signal, the actual yaw rate signal and the vehicle lateral acceleration signal; and
integrating the yaw rate feedback signal and the side-slip rate feedback signal to generate a stability enhancement control signal used for providing the active front steering of the vehicle, wherein integrating the yaw rate feedback signal and the side-slip rate feedback signal includes weighting one or both of the yaw rate feedback signal and the side-slip rate feedback signal.
2. The method according to claim 1 wherein determining the yaw rate feedback signal includes determining whether the vehicle is in an understeer or oversteer condition, and wherein integrating the yaw rate feedback signal and includes weighting the yaw rate feedback signal based on whether the vehicle is in the understeer or the oversteer condition.
3. The method according to claim 1 wherein determining the side-slip rate feedback signal includes generating a side-slip error signal between the desired side-slip rate signal and an actual side-slip rate of the vehicle, and multiplying a side-slip control gain with the side-slip error signal.
4. The method according to claim 3 wherein the actual side-slip rate is determined from the lateral acceleration signal, the actual yaw rate signal and the vehicle speed signal.
5. The method according to claim 3 wherein determining the side-slip rate feedback signal includes determining an initial side-slip control gain signal, determining a control gain multiplier for an understeer and oversteer condition, and multiplying the understeer multiplier and the oversteer multiplier by the initial control gain signal.
6. The method according to claim 5 wherein the control gain multipliers are determined from look-up tables based on vehicle speed.
7. The method according to claim 1 wherein integrating the yaw rate feedback signal and the side-slip rate feedback signal includes determining whether a yaw rate error signal and the side-slip rate feedback signal are greater than predetermining thresholds for a predetermined period of time, wherein the yaw rate error signal is the difference between a yaw rate command and the actual yaw rate signal, and wherein if the yaw rate error signal and the side-slip rate feedback signal are not greater than the predetermined thresholds for the predetermined period of time, the side-slip rate feedback signal is set to zero.
8. The method according to claim 7 wherein integrating the yaw rate feedback signal and the side-slip rate feedback signal includes setting a yaw rate multiplier to one if the side-slip rate feedback signal or the yaw rate error signal is not greater than the predetermined threshold for the predetermined period of time.
9. The method according to claim 1 further comprising generating a variable gear ratio control signal based on the vehicle speed signal and the steering angle signal, and adding the variable gear ratio control signal to the stability enhancement control signal to control the front steering of the vehicle.
10. An active front steering system for a vehicle, said system comprising:
a hand-wheel sensor for generating a steering angle signal indicative of a vehicle operator's intended steering direction;
a vehicle speed sensor for providing a vehicle speed signal of the speed of the vehicle;
a yaw rate sensor for providing an actual yaw rate signal of the yaw rate of the vehicle;
a lateral acceleration sub-system for providing a lateral acceleration signal of the lateral acceleration of the vehicle;
a yaw rate command sub-system responsive to the steering angle signal and the vehicle speed signal, said yaw rate command sub-system generating a desired yaw rate signal;
a side-slip rate sub-system responsive to the steering angle signal and the vehicle speed signal, said side-slip rate sub-system generating a desired side-slip rate signal;
a yaw rate feedback sub-system responsive to the desired yaw rate signal and the actual yaw rate signal, said yaw rate feedback sub-system generating a yaw rate feedback signal;
a side-slip rate feedback sub-system responsive to the lateral acceleration signal, the actual yaw rate signal, the vehicle speed signal and the desired side-slip rate signal, said side-slip rate feedback sub-system providing a side-slip rate feedback signal; and
a control integration sub-system responsive to the yaw rate feedback signal and the side-slip rate feedback signal, said control integration sub-system weighting the yaw rate feedback signal and/or the side-slip rate feedback signal to provide a stability enhancement control signal for controlling the front steering of the vehicle.
11. The system according to claim 10 wherein the yaw rate feedback sub-system determines whether the vehicle is in an understeer or oversteer condition, and wherein the control integration sub-system weights the yaw rate feedback signal based on whether the vehicle is in the understeer or the oversteer condition.
12. The system according to claim 10 wherein the side-slip rate feedback sub-system generates a side-slip error signal between the desired side-slip rate signal and an actual side-slip rate of the vehicle, and multiplies a side-slip control gain with the side-slip error signal.
13. The system according to claim 12 wherein the side-slip rate feedback sub-system determines the actual side-slip rate from the lateral acceleration signal, the actual yaw rate signal and the vehicle speed signal.
14. The system according to claim 13 wherein the side-slip rate feedback sub-system determines a side-slip control gain by providing an initial side-slip control gain signal, determining a control gain multiplier for an understeer and oversteer condition, and multiplying the understeer multiplier and the oversteer multiplier by the initial control gain.
15. The system according to claim 14 wherein the control gain multipliers are determined from look-up tables based on vehicle speed.
16. The system according to claim 10 wherein the control integration sub-system determines whether a yaw rate error signal and the side-slip rate feedback signal are greater than predetermining thresholds for a predetermined period of time, and wherein the yaw rate error signal is the difference between a yaw rate command and the actual yaw rate signal, and wherein if the yaw rate error signal and the side-slip feedback rate signal are not greater than the predetermined thresholds for the predetermined period of time, the side-slip rate feedback signal is set to zero.
17. The system according to claim 16 wherein the control integration sub-system sets a yaw rate multiplier to one if the side-slip rate feedback signal or the yaw rate error signal is not greater than the predetermined threshold for the predetermined period of time.
18. The system according to claim 10 further comprising a variable gear ratio sub-system that generates a variable gear ratio control signal based on the vehicle speed signal and the steering angle signal, and an adder for adding the variable gear ratio control signal to the stability enhancement control signal to control the front steering of the vehicle.
19. An active front steering system for a vehicle, said system comprising:
a yaw rate feedback sub-system responsive to a desired yaw rate signal and an actual yaw rate signal, said yaw rate feedback sub-system generating a yaw rate feedback signal;
a side-slip rate feedback sub-system responsive to a lateral acceleration signal, a the actual yaw rate signal, a vehicle speed signal and a desired side-slip rate signal, said side-slip rate feedback sub-system providing a side-slip rate feedback signal; and
a control integration sub-system responsive to the yaw rate feedback signal and the side-slip rate feedback signal, said control integration sub-system weighting the yaw rate feedback signal and/or the side-slip rate feedback signal to provide a stability enhancement control signal for controlling the front steering of the vehicle.
20. The system according to claim 19 further comprising a variable gear ratio sub-system that generates a variable gear ratio control signal based on the vehicle speed signal and a steering angle signal, and an adder for adding the variable gear ratio control signal to the stability enhancement control signal to control the front steering of the vehicle.