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(12) United States Patent Khajepour et a].
US008762004B2
US 8,762,004 B2 Jun. 24, 2014
(10) Patent N0.: (45) Date of Patent:
(54)
(76)
(21) (22) (65)
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(51) (52)
(58)
VEHICLE DYNAMIC CONTROL USING (56) References Cited PULSED
ACTIVE STEERING STRATEGY
U.S. PATENT DOCUMENTS Inventors: Amir Khajepour, Waterloo (CA);
_
Ch J Ch . t h K T - - TW _ 4,828,061 A * 5/1989 Klmbrough et a1.
........ .. 180/413 6' e 5 0P 0 alpel ( )3 5,552,789 A * 9/1996
Schuermann .............. .. 340/521
J 01111 Joseph McPhee, Waterloo (CA) 5,610,575 A * 3/1997
Gioutsos .......... .. 340/429 5,778,327 A * 7/1998 Simmons ct a1.
. 701/23
Notice: Subject to any disclaimer, the term of this 6,138,787 A
* 10/2000 Miotto 180/405 patent is extended or adjusted under 35
5:121 ~~~~~~ ~~ , , ugawa ..... .. U30 1540) by 447 days' 7,165,008
B2 * 1/2007 c1101 ................ .. 702/141
2003/0024759 A1* 2/2003 Williams ct a1. 180/443 Appl- NO-I
11/833,815 2003/0033486 A1 * 2/2003 Mizrachi et a1. .. 711/133
2004/0128060 A1* 7/2004 Park ............................ ..
701/124 F'l d: A . 3 2007
1 e g * 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
. . . . (57) ABSTRACT Prowslonal appl1cat10n No. 60/835,082,
?led on Aug. 3, 2006 A pulse active steering control system and
method for use in
a motor vehicle for improving vehicle stability by reducing a
Int, Cl, likelihood for rollover and/or skidding sends pulses to
the A01B 69/00 (2006.01) steerable Wheels Whenever a rollover
coei?cient and/or the us CL difference between the estimated and
actual yaW rate is out USPC ................. .. 701/42; 701/41;
701/45; 701/70; 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 rollover
coef?cient and/or yaW rate to the predetermined USPC ______ __
701/41, 42 70 71, 74, 79, 91; 180/443 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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US 8,762,004 B2 Sheet 2 0f 58 Jun. 24, 2014 US. Patent
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US 8,762,004 B2 Sheet 13 0f 58 Jun. 24, 2014 US. Patent
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US. Patent Jun. 24, 2014 Sheet 14 0f58 US 8,762,004 B2
Is RC greater than the threshetd'?
N0
Yes "
Calculate R error
i Is pulse generator on
aiready?
No i LYes Turn pulse generator Continue previous
011 to start a new pulse pulse cycle
I l t
Modify the ampttude and direction of the pulse with
respect to the current steering input and R error
i is the puise eye-1e finished? Turn the Puise YES
generator eff
Extra Steering I'
Extra steering to modify original l driver steering input
FIGURE 14
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US. Patent Jun. 24, 2014 Sheet 15 0f58 US 8,762,004 B2
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US 8,762,004 B2 Sheet 17 0f 58 Jun. 24, 2014 US. Patent
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US. Patent Jun. 24, 2014 Sheet 18 0f58 US 8,762,004 B2
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