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    I PD Rollover: United States Patent

    Uploaded by

    PCezzz
    The document is a patent for a vehicle dynamic control system that uses pulsed active steering to improve vehicle stability and reduce the likelihood of rollover or skidding. The system sends pulses to the steerable wheels whenever a rollover coefficient or the difference between estimated and actual yaw rate is outside a predetermined range. The pulses are asymmetrical in the form of a smooth curve with a gradually increasing rapid rising edge and a slower falling edge. This provides additional steering input along with the driver's input to return the rollover coefficient and yaw rate to within the predetermined range.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd

    I PD Rollover: United States Patent

    Uploaded by

    PCezzz
    22 views65 pages
    The document is a patent for a vehicle dynamic control system that uses pulsed active steering to improve vehicle stability and reduce the likelihood of rollover or skidding. The system sends pulses to the steerable wheels whenever a rollover coefficient or the difference between estimated and actual yaw rate is outside a predetermined range. The pulses are asymmetrical in the form of a smooth curve with a gradually increasing rapid rising edge and a slower falling edge. This provides additional steering input along with the driver's input to return the rollover coefficient and yaw rate to within the predetermined range.

    Original Description:

    test

    Original Title

    Us 8762004

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    © © All Rights Reserved

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    The document is a patent for a vehicle dynamic control system that uses pulsed active steering to improve vehicle stability and reduce the likelihood of rollover or skidding. The system sends pulses to the steerable wheels whenever a rollover coefficient or the difference between estimated and actual yaw rate is outside a predetermined range. The pulses are asymmetrical in the form of a smooth curve with a gradually increasing rapid rising edge and a slower falling edge. This provides additional steering input along with the driver's input to return the rollover coefficient and yaw rate to within the predetermined range.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    22 views65 pages

    I PD Rollover: United States Patent

    Uploaded by

    PCezzz
    The document is a patent for a vehicle dynamic control system that uses pulsed active steering to improve vehicle stability and reduce the likelihood of rollover or skidding. The system sends pulses to the steerable wheels whenever a rollover coefficient or the difference between estimated and actual yaw rate is outside a predetermined range. The pulses are asymmetrical in the form of a smooth curve with a gradually increasing rapid rising edge and a slower falling edge. This provides additional steering input along with the driver's input to return the rollover coefficient and yaw rate to within the predetermined range.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 65

    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);


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    (56)

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    J 01111 Joseph McPhee, Waterloo (CA)

    Notice:

    Subject to any disclaimer, the term of this

    (22)

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    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


    _

    - TW _

    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

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    T

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    PD

    Rollover

    Controlier

    Estimator

    Active Steering Controiler

    US. Patent

    Jun. 24, 2014

    Sheet 2 0f 58

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    US. Patent

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    Jun. 24, 2014

    Sheet 14 0f58

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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

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    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

    US. Patent

    Jun. 24, 2014

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    Jun. 24, 2014

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    US. Patent

    Jun. 24, 2014

    Sheet 17 0f 58

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    US. Patent

    Jun. 24, 2014

    Sheet 18 0f58

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