A stability control system 24 for an automotive vehicle as includes a plurality of sensors 28-37 sensing the dynamic conditions of the vehicle and a controller 26 that controls a distributed brake pressure to reduce a tire moment so the net moment of the vehicle is counter to the roll direction. The sensors include a speed sensor 30 , a lateral acceleration sensor 32 , a roll rate sensor 34, and a yaw rate sensor 20. The controller 26 is coupled to the speed sensor 30, the lateral acceleration sensor 32, the roll rate sensor 34, the yaw rate sensor 28. The controller 26 determines a roll angle estimate in response to lateral acceleration, roll rate, vehicle speed, and yaw rate. The controller 26 changes a tire force vector using brake pressure distribution in response to the relative roll angle estimate.

Roll over stability control for an automotive vehicle

A system uses multiple tilt sensors mounted to the vehicle frame and the vehicle suspension system to detect lateral acceleration and lateral load transfer. The system uses these measurements to determine a lateral load transfer ratio indicative of an actual roll moment compared to a maximum roll moment. The measurements from the tilt sensors are also used to calculate an effective center of gravity height. A display coupled to the system provides the vehicle operator with a read out of the load transfer ratio and effective center of gravity height. The display enables the vehicle operator to more completely understand the nature of the vehicle load and thereby allow the vehicle operator to avoid conditions likely to lead to a vehicle rollover accident.

System and method for the detection of vehicle rollover conditions

A vehicle includes a control system that is used to control a vehicle system. The control system determines a roll condition in response to a yaw rate sensor and a pitch rate sensor without having to use a roll rate sensor. A relative roll angle, relative pitch angle, global roll angle, and global pitch angle may also be determined. A safety system may be controlled in response to the roll condition, roll angle, or the pitch angles individually or in combination.

Integrated vehicle control system using dynamically determined vehicle conditions

A system (18) for controlling a safety system (44) of an automotive vehicle (10) includes a longitudinal acceleration sensor (36), a vehicle speed sensor (20), a lateral acceleration sensor (32), a yaw rate sensor, and a controller (26). The controller (26) determines a reference pitch in response to the longitudinal acceleration signal and the vehicle speed signal and a reference roll angle in response to the yaw rate signal, the wheel speed signal and the lateral acceleration signal. The controller (26) determines a roll stability index and a pitch stability index. The controller (26) determines an adjusted pitch angle in response to the reference pitch angle and the pitch stability index and an adjusted roll angle in response to the reference roll angle and the roll stability index. The controller (26) controls the safety system (44) in response to the adjusted roll angle and the adjusted pitch angle.

Attitude sensing system for an automotive vehicle relative to the road

A vehicle control system includes a housed sensor cluster generating a plurality of signals. An integrated controller includes a sensor signal compensation unit and a kinematics unit, wherein the sensor signal compensation unit receives at least one of the plurality of signals and compensates for an offset within the signal and generates a compensated signal as a function thereof. The integrated controller further generates a kinematics signal including a sensor frame with respect to an intermediate axis system as a function of the compensated signal and generates a vehicle frame signal as a function of the kinematics signal. A dynamic system controller receives the vehicle frame signal and generates a dynamic control signal in response thereto. A safety device controller receives the dynamic control signal and further generates a safety device signal in response thereto.

Integrated sensing system

In this system for vehicle roll control, a suspension device or an actuator is provided corresponding to each wheel of a vehicle, and resiliently suspends it from the vehicle body. Each such suspension device can alter its hardness or softness characteristics according to a control signal, while similarly the actuators are adapted to alter the suspended height of their wheels. A vehicle speed detecting device senses road speed, a steering angle detecting device senses steering angle, and a device detects the total vehicle body weight. A computing control device computes a predictive roll angle of the vehicle body from road speed and steering angle, and: if suspension devices are provided, controls them to be relatively hard when the absolute value of the predictive roll angle is larger than a threshold value, while controlling them to be relatively soft when the absolute value of the predictive roll angle is less than this threshold value; while, if actuators are provided, when the absolute value of the predictive roll angle is larger than a threshold value, it controls them in accordance with this predictive roll angle. Particularly, this computing device varies the threshold roll angle value according to the total vehicle body weight as detected by the weight detector, so as to decrease the threshold roll angle value along with increase of the total vehicle body weight.

System for vehicle body roll control detecting and compensating for changes of loaded vehicle weight

In this vehicle height adjustment system, a plurality of actuator assemblies are provided, one corresponding to each one of the vehicle wheels and resiliently suspending it from the vehicle body. These actuator assemblies have pressure chambers, and each is adapted to increase or decrease the vehicle height at a location corresponding to its corresponding wheel as respective results of supplying or discharging of working fluid to or from its pressure chamber. Working fluid supply/discharge means are provided corrresponding to the actuator assemblies and supply and discharge working fluid to and from their pressure chambers. Vehicle height detection means are provided for sensing the heights of the vehicle above the wheels. A means detects the rate of change of the steering angle of the vehicle. And a means for computing and control controls the working fluid supply/discharge means, based on the deviations of the actual wheel heights from standard wheel heights, and carries out control adjustment of the actual wheel heights to the standard wheel heights, by performing a prediction calculation of the fluctuations in wheel heights caused by vehicle rolling from the rate of change of steering angle as detected by the means for detecting the rate of change of steering angle and from the vehicle speed as detected by the vehicle speed detecting means, and by carrying out a correction to the adjustment control of the working fluid supplying and discharging means, based upon the calculation result, by an amount appropriate substantially to eliminate the wheel height fluctuations.

System for vehicle height adjustment with steering angle change rate correction

PURPOSE:To enable proper control of the roll of a heavy vehicle, eg, bus, by a method wherein a roll angle is estimated from a car speed and a steering angle, and in comparison with a given value decreased simultaneously with an increase in a total weight of a vehicle body, soft and rigid characteristics of a varying suspension device are switched CONSTITUTION:When outputs from various sensors 87-98 are inputted to a controller 102, the total weight of a car body is calculated from an oil pressure in a cylinder chamber detected by pressure sensors 91-94, and simultaneously given computation is effected, and motors 79-82 for driving a variable throttle, motors 83-86 for driving an on-off valve, and on-off valves 18-42 are controlled to control a ground clearance In this case, from a car speed 95 and a steering angle 96, a roll angle is estimated, the estimated roll angle is compared with a given value selected from a relation map between a total amount of a vehicle body and a given value stored in a ROM 15 to control rigid and soft characteristics The given value is so set as to decrease steppedly with the increases in the total weight of a vehicle body This constitution also enables proper control of the roll of a heavy vehicle

Hiroyuki Toyota Jidosh Ikemoto

Papers

System for vehicle body roll control detecting and compensating for changes of loaded vehicle weight

System for vehicle height adjustment with steering angle change rate correction

Control device for roll for vehicle