Patent ID: 6668225
Filing Date: 2003-12-23
Classification: B60T

Abstract:
A control system for a combination vehicle having a prime mover and a trailer, the control system comprising:a computer; a memory accessible to said computer; an algorithm for calculating braking forces to correct forces selected from the group consisting of braking forces, yaw forces, and rollover forces stored in the memory; sensors operably connected to said computer; output signals from said computer; and at least two brake controllers for wheels on the trailer, said brake controllers in communication with said computer, wherein the computer receives inputs from sensors on the combination vehicle and calculates brake movements to control movement of the combination vehicle, and wherein the algorithm for calculating braking forces calculates a required braking force for each wheel on the prime mover and trailer to overcome yaw forces, and said algorithm is If (c1|{dot over (&psgr;)}dâˆ’{dot over (&psgr;)}|+c2|&eegr;dâˆ’&eegr;|)>Yyaw, Then Tyaw=[KÏˆ-KÎ·]&af;[Î¨.d-Î¨.Î·d-Î·],where c1 and c2 are coefficients, {dot over (&psgr;)}d is a desired yaw rate, {dot over (&psgr;)} is a yaw rate, &eegr;d is a desired articulation angle, &eegr; is an articulation angle, Yyaw is a predetermined or dynamically-calculated threshold value, Tyaw is a torque applied to a wheel to overcome a yaw rate, and K is a gain.