发明名称 |
Trailer sway mitigation using torque vectoring |
摘要 |
A system for stabilizing a sway of a trailer attached to a vehicle. In one embodiment, the system includes a controller, a plurality of sensors in electronic communication with the controller and transmitting sensor data to the controller, a torque vectoring device in electronic communication with the controller, and a computer readable memory storing instructions executed by the controller. The instructions cause the controller to evaluate the sensor data received from the sensors to determine a current vehicle yaw rate, a target vehicle yaw rate, and a yaw rate error of the vehicle. The instructions further cause the controller to determine if the vehicle is traveling in a straight line, to determine a torque distribution signal, and to transmit this signal to the torque vectoring device to stabilize the sway of the trailer without braking the vehicle. |
申请公布号 |
US9061663(B2) |
申请公布日期 |
2015.06.23 |
申请号 |
US201012913204 |
申请日期 |
2010.10.27 |
申请人 |
Robert Bosch GmbH |
发明人 |
Wu Hsien-Cheng (Kevin) |
分类号 |
G06F7/00;G06F17/00;G06F19/00;B60T7/12;G05D1/00;B60T8/1755;B60T8/17;B60W30/02 |
主分类号 |
G06F7/00 |
代理机构 |
Michael Best Friedrich LLP |
代理人 |
Michael Best Friedrich LLP |
主权项 |
1. A system for stabilizing a sway of a trailer attached to a vehicle, the system comprising:
a first controller; a plurality of sensors in electronic communication with the first controller, each of the sensors transmitting sensor data to the first controller; a first non-transitory computer readable memory storing instructions that, when executed by the first controller, cause the first controller to:
evaluate the sensor data received from the sensors to determine a current vehicle yaw rate, a target vehicle yaw rate, and a yaw rate error of the vehicle,determine if the vehicle is traveling in a straight line,determine a torque distribution signal, wherein the torque distribution signal indicates an increased torque to be applied to a first rear wheel of the vehicle when the current vehicle yaw rate exceeds the target vehicle yaw rate and indicates an increased torque to be applied to a second rear wheel when the target vehicle yaw rate exceeds the current vehicle yaw rate, andtransmit the torque distribution signal to a torque vectoring device; and the torque vectoring device, wherein the torque vectoring device is configured to stabilize the sway of the trailer without braking the vehicle and includes
a second controller in electronic communication with the first controller, anda second non-transitory computer readable memory storing instructions that, when executed by the second controller, cause the second controller to:
apply torque to the first rear wheel and the second rear wheel based on the torque distribution signal, andrequest additional compensatory torque from a vehicle engine based on the torque distribution signal and an amount of torque that is currently available in the first rear wheel and the second rear wheel of the vehicle. |
地址 |
Stuttgart DE |