Patent ID: 6122584
Filing Date: 2000-09-19
Classification: B60T

Abstract:
A brake system control method, comprising the steps of:measuring a longitudinal speed and a steering angle of a vehicle;specifying an un-damped natural frequency and a damping ratio for a linear reference model of said vehicle;determining a first gain parameter relating a desired value of steady state lateral velocity to the vehicle steering angle;computing a desired lateral velocity as a function of said first gain parameter, the measured longitudinal speed, the measured steering angle, and the specified un-damped natural frequency and damping ratio;determining a second gain parameter relating a desired value of steady state yaw rate to the vehicle steering angle;computing a desired yaw rate as a function of said second gain parameter, the measured longitudinal speed and steering angle, and the specified un-damped natural frequency and damping ratio;measuring a lateral acceleration and yaw rate of said vehicle, and forming a yaw rate command for said vehicle based at least in part on a first deviation between said desired and measured yaw rates, and a second deviation between said measured lateral acceleration and a desired lateral acceleration based on said desired lateral velocity; anddifferentially braking wheels of said vehicle to impart a yaw moment corresponding to said yaw rate command.