Claims
- 1. A control system for a motor vehicle subsystem, the control system comprising:
a reference model which computes desired states of the subsystem; a feedforward controller which computes a first control value based on input from the reference model, and computes a second control value based on yaw rate of the vehicle and a control variable for the subsystem; and means for affecting the subsystem based on the first and second control values.
- 2. The control system of claim 1 further comprising a state estimator which estimates actual states of the vehicle.
- 3. The control system of claim 2 further comprising a feedback controller which computes a third control value by comparing the estimates of actual states with desired states.
- 4. The control system of claim 1 wherein the first control value is a function of vehicle speed.
- 5. The control system of claim 1 wherein the first control value is a function of an estimate of surface friction.
- 6. The control system of claim 1 wherein the second control value is a function of a first-order transfer function.
- 7. The control system of claim 1 wherein the second control value is a function of a second-order transfer function.
- 8. The control system of claim 1 wherein the second control value is a function of proportional, derivative, and diminishing integrator terms.
- 9. The control system of claim 1 wherein the second control value is a function of steering wheel position.
- 10. The control system of claim 1 wherein the subsystem is a rear wheel steering system.
- 11. The control system of claim 1 wherein the subsystem is a front wheel steering system.
- 12. The control system of claim 1 wherein the subsystem is a braking system.
- 13. A method of controlling a motor vehicle subsystem, the method comprising:
computing desired states of the subsystem; computing a first control value based on the desired states of the subsystem; computing a second control value based on yaw rate of the vehicle and a control variable for the subsystem; and affecting the subsystem based on the first and second control values.
- 14. The method of claim 13 further comprising estimating actual states of the vehicle.
- 15. The method of claim 14 further comprising a computing a third control value by comparing the estimates of actual states with desired states.
- 16. The method of claim 13 wherein the first control value is a function of vehicle speed and an estimate of surface friction.
- 17. The method of claim 13 wherein the second control value is a function of a second-order transfer function.
- 18. The method of claim 13 wherein the second control value is a function of proportional, derivative, and diminishing integrator terms.
- 19. The method of claim 13 wherein the second control value is a function of steering wheel position.
- 20. A method of controlling motor vehicle steering and braking subsystems, the method comprising:
computing desired states of the steering and braking subsystems; computing a first control value based on the desired state of the steering subsystem; computing a second control value based on the desired state of the braking subsystem; computing a third control value based on yaw rate of the vehicle and a control variable for the steering subsystem; computing a fourth control value based on yaw rate of the vehicle and a control variable for the braking subsystem; affecting the steering and braking subsystems based on the first, second, third, and fourth control values.
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a continuation-in-part of Ser. No. 09/935,274, which was filed Aug. 22, 2001, the disclosure of which is hereby incorporated by reference.
Continuation in Parts (1)
|
Number |
Date |
Country |
Parent |
09935274 |
Aug 2001 |
US |
Child |
10008251 |
Nov 2001 |
US |