Brake-to-steer lateral stability management based on stability indicator correlation
A number of variations are disclosed including a system and method for modifying, in real-time, at least one brake or powertrain application to individual roadwheels of a vehicle to increase lateral maneuver capability in a vehicle having an operational, partially operational, failing, or failed electronic steering system. The system and method may include modifying at least one brake or powertrain command to individual roadwheels where vehicle instability is detected.
1 . A method comprising:
receiving or calculating at least one stability indicator wherein the received at least one stability indicator comprises at least one of vehicle speed, lateral acceleration, vehicle yaw rate, steering wheel angle, steering wheel torque, speed, wheel speed or yaw rate, and wherein the calculating at least one stability indicator comprises calculating a yaw rate;
calculating an estimated yaw rate based on at least one of vehicle speed, wheel speed or lateral acceleration;
calculating a yaw rate error based on at least one of the estimated yaw rate or a measured vehicle yaw rate;
determining a brake command modifier value based on at least one of measured vehicle speed or the yaw rate error;
modifying at least one brake command based on the brake command modifier value to provide a modified brake command;
communicating the modified brake command to a brake-to-steer system to provide brake-to-steer stability.
2 . A method as set forth in claim 1 , further comprising determining a modified powertrain modifier value based on at least one of measured vehicle speed or the yaw rate error; and modifying at least one powertrain command based on the powertrain command modifier value.
3 . A method as set forth in claim 1 , wherein the brake command modifier value is a scalar value.
4 . A method as set forth in claim 2 , wherein the powertrain command modifier value is a scalar value.
5 . A method as set forth in claim 1 , wherein the brake command modifier value is a reduction value.
6 . A method as in claim 2 , wherein the powertrain command modifier value is a reduction value.
7 . A method as in claim 1 , wherein determining a brake command modifier value based on at least one of measured vehicle speed or the yaw rate error comprises utilizing at least one of: a two-dimensional yaw rate error versus speed table; a one-dimensional yaw rate error table; a single yaw rate error value; a two-dimensional yaw rate error verses wheel speed table; a two-dimensional yaw rate error verses yaw rate table; a three-dimensional table of yaw rate error, yaw rate, wheel speeds; or other numeric calculations.
8 . A method as in claim 1 , further comprising communicating Brake-to-Steer commands in a pre-scaled state to a Brake-to-Steer command modifier prior to modifying at least one brake command based on the brake command modifier value.
9 . A method comprising:
determining if a brake-to-steer system is steering a vehicle, and if so comparing a stability indicator to a stability indicator threshold, and if the stability indicator is beyond the limit of the stability indicator threshold range then calculating a modulation of at least one of a brake or powertrain commands to provide at least one of a modified brake-to-steer brake command or brake-to-steer powertrain command, and outputting at least one of the modified brake-to-steer brake command or brake-to-steer powertrain command to provide brake-to-steer stability.
10 . A method as set forth in claim 9 further comprising receiving the output modified brake command by a brake system or the output modified powertrain command by a powertrain system.
11 . A method as set forth as in claim 9 , wherein calculating a modulation of at least one of a brake or powertrain command is based on at least one of measured vehicle speed or the yaw rate error; and the modified brake or powertrain command is based on a brake command modifier value or powertrain command modifier value.
12 . A method as set forth as in claim 11 , wherein the brake command modifier value is a scalar value.
13 . A method as set forth as in claim 11 , wherein the powertrain command modifier value is a scalar value.
14 . A method as set forth as in claim 11 , wherein the brake command modifier value is a reduction value.
15 . A method as set forth as in claim 11 , wherein the powertrain command modifier value is a reduction value.
16 . A method as set forth as in claim 11 , wherein the brake command modifier value based on at least one of measured vehicle speed or the yaw rate error comprises utilizing at least one of: a two-dimensional yaw rate error versus speed table;
a one-dimensional yaw rate error table; a single yaw rate error value; a two-dimensional yaw rate error verses wheel speed table; a two-dimensional yaw rate error verses yaw rate table; a three-dimensional table of yaw rate error, yaw rate, wheel speeds; or other numeric calculations.
17 . A method as set forth as in claim 11 , further comprising communicating Brake-to-Steer commands in a pre-scaled state to a Brake-to-Steer command modifier prior to providing a modified brake command based on the brake command modifier value.
18 . A method as set forth in claim 9 wherein the calculated modulation is a scalar value.