|Publication number||US7266437 B2|
|Application number||US 11/161,496|
|Publication date||Sep 4, 2007|
|Filing date||Aug 5, 2005|
|Priority date||Aug 5, 2005|
|Also published as||DE102006033446A1, US20070032938|
|Publication number||11161496, 161496, US 7266437 B2, US 7266437B2, US-B2-7266437, US7266437 B2, US7266437B2|
|Inventors||Davor Hrovat, Ralph Cunningham, Peter Lazarevski, Eric Tseng, Charles Bannon, Michael Fodor|
|Original Assignee||Ford Global Technologies, Llc|
|Export Citation||BiBTeX, EndNote, RefMan|
|Patent Citations (36), Referenced by (7), Classifications (13), Legal Events (3)|
|External Links: USPTO, USPTO Assignment, Espacenet|
The present invention relates generally to a traction control system, and more particularly, to trigger control that depends on temperature to reduce false activations.
Traction control systems attempt to optimize vehicle acceleration and handling performance under low road/tire interface friction levels by controlling the slip of the driven wheels through wheel torque management via powertrain torque and possibly brake torque control. In certain conditions, aggressive traction control intervention is not required. Such conditions such as in large throttle tip-ins on dry roads may cause instantaneous short wheel spins. Other conditions such as driving across a rough road on a warm day also do not require aggressive traction control intervention. Such interventions are unintended. The feature that is common in such conditions is the environmental temperature. In warm conditions, snow and ice are not likely.
In typical traction control systems a slip target is set for the driven wheels. Thus, when the wheel speed of the driven wheel exceeds the slip target, traction control intervenes to maintain traction of the wheel. One example of this concept is set forth in U.S. Pat. No. 6,330,505. In the '505 patent, the target slip level defines the slip threshold. In the '505 patent, the outside air temperature is taken into consideration so that the target slip level is adjusted up or down. In high temperatures the target slip is raised and in low temperatures the target slip is lowered. The threshold remains at the target slip line. One drawback to such a system is that unintended activation may still be present.
It would therefore be desirable to prevent unintended activations in a traction control system when aggressive traction control system intervention is not required.
The present invention improves a traction control system by allowing the traction control system to adjust the slip trigger threshold independently of the target slip.
In one aspect of the invention, a method of controlling traction of a vehicle comprises determining a slip target, determining an operating temperature, determining a traction control slip trigger threshold above the slip target in response to the temperature and entering a traction control mode when a driven wheel is above the slip trigger threshold.
In a further aspect of the invention a turning characteristic may be used to change the slip trigger threshold. A method of controlling traction of a vehicle in this aspect comprises determining a slip target, determining a turning characteristic, determining a traction control slip trigger threshold above the slip target in response to the turning characteristic and entering a traction control mode when a driven wheel is above the slip trigger threshold.
In yet another aspect of the invention, a method of controlling traction of a vehicle comprises determining a target slip, determining a change in slip, determining a traction control slip trigger threshold above a slip target in response to the change in slip and entering a traction control mode when a driven wheel is above the slip trigger threshold.
One advantage of the invention is that the threshold is changed independently from the slip target to allow an increased amount of slip before entering the traction control mode. Consequently, unintentional activations of the system are reduced.
Other advantages and features of the present invention will become apparent when viewed in light of the detailed description of the preferred embodiment when taken in conjunction with the attached drawings and appended claims.
The following figures describe a traction control system that may be used for an engine only traction control system. However, the teachings of the present invention may also be applicable to engine and brake-type traction control systems.
An automotive vehicle 10 is illustrated having wheel and tire assemblies 12 a, 12 b, 12 c, and 12 d. A drive system 14 coupled to a drivetrain 16 provides power to the wheel and tire assemblies 12 through the front differential 18 and rear differential 20. The drive system 14 may include an engine controller 15 that is microprocessor-based. The engine controller 15 may be used to control the amount of torque and thus the amount of slip generated at each of the wheels. The drive system 14 may vary the amount of engine power to effect the change in torque at the wheel and tire assemblies 12. A reduction in the amount of fuel and changing other parameters may reduce the amount of power output from the engine. It should also be noted that the drive system may include an internal combustion-only type system, a hybrid system, an electric drive system, or a fuel cell system.
The drive system 14 provides torque through the drivetrain 16 which may include a transmission, front differential 18 and rear differential 20. In a rear wheel drive vehicle, only the rear differential 20 would be present. A four or all-wheel drive system may include both the front differential 18 and the rear differential 20. Also, in certain all-wheel drive systems an additional center differential may be provided.
A brake system 24 that may include electric, electro-hydraulic, or hydraulic systems is used to actuate the brakes 26 a, 26 b, 26 c, and 26 d. The brakes are activated in response to driver input. The brake system 24 may also be activated in response to a traction control system that includes a traction control controller 30.
The traction control system and thus the controller 30 may be coupled directly or indirectly to wheel speed sensors 32 a, 32 b, 32 c, and 32 d. As illustrated, the wheel speed sensors are coupled directly to the wheels. The wheel speed sensors may be the output from an anti-lock brake system, an axle sensor or the like.
It should be noted that the wheels driven by the drive system 14 are referred to as driven wheels whereas wheels that are not coupled to the engine are referred to as undriven wheels. In the following description the speed of the undriven wheels may be used as the reference speed. In four-wheel or all-wheel drive systems no wheels are undriven and thus various algorithms may be used to determine the reference speed. The reference speed may correspond to a vehicle speed. Wheels that are touching the road surface and have a torque level below a certain torque threshold may be included in such algorithms.
The traction controller 30 is coupled to the drive system 14. The traction controller 30 may generate a control signal or torque command to reduce the amount of torque to the engine upon the sensing of a slipping wheel.
Various dynamic sensors may be coupled to the traction controller 30. Dynamic sensors may include a yaw rate sensor 36, a lateral acceleration sensor 38, and a longitudinal acceleration sensor 40. The yaw rate sensor 36 generates a yaw rate signal corresponding to the yaw rate of the vehicle. From the yaw rate sensor 36 the yaw acceleration may also be determined. The lateral acceleration sensor 38 generates a lateral acceleration signal corresponding to the lateral acceleration of the vehicle body. The longitudinal acceleration sensor 40 generates a longitudinal acceleration signal corresponding to the longitudinal acceleration of the vehicle. The various sensors may be directly coupled to the traction controller 30 or may be coupled to various vehicle dynamic control systems such as a yaw control system or a rollover stability control system. A roll rate sensor 42 may also be used to determine load transfer for the vehicle.
Other sensors coupled to the traction controller 30 may include a steering wheel angle sensor 44 that generates a steering wheel angle signal corresponding to the angle of the hand wheel within the vehicle. From the steering wheel angle sensor, the angle of the steered wheels on the pavement may be determined using the known gearing ratio of the steering system. Also, the steering wheel angle sensor may also be a direct sensor coupled to the steering actuator itself at or near the steered wheels.
Temperature sensor 46 may also be coupled to the traction controller 30. Temperature sensor 46 generates a temperature sensor signal corresponding to the temperature around the vehicle. The temperature sensor may, for example, include an air intake temperature sensor commonly found on vehicles. Other temperature sensors may be located at various other places around the vehicle. The temperature sensor 46 gives an indication to the ambient temperature surrounding the vehicle.
A timer 48 may also be coupled to the traction controller 30. The timer controller 48 may time various conditions of the vehicle. For example, the timer 48 may monitor the amount of time since entering the traction control mode when a driven wheel is above the slip target for a predetermined time. The timer 48 may be a stand alone timer or an integral part of a microprocessor.
Referring now to
Referring now to
Referring now to
Referring now to
In step 74 a target slip is determined. The target slip may be determined in various ways including a certain percentage of slip may be tolerable. As will be further described below, various methods for adjusting the target slip may also be set forth.
In step 76, the slip trigger threshold is determined. The slip trigger threshold may, for example, be determined using the ambient temperature that is sensed using the temperature sensor illustrated in
It should also be noted that wheel speed differences due to steering geometry is present. That is, front and rear tires of a turning vehicle may have a different turning radius and thus, different velocities. If the vehicle velocities at both the front and rear locations are the same for a turning vehicle with front steering, the front wheels would need to turn at a higher angular rates due to the tire orientation when steered. Assuming all tires experience pure rolling and no lateral sliding, the following ratio between the front and rear angular rates may be set forth as
Therefore, a reference vehicle speed or wheel rolling rotation reference speed of a driven tire may be compensated based upon the steering angle or steering geometry accordingly. Thus, a steering characteristic measured by steering wheel angle or steered wheel angle may be used to adjust the slip trigger threshold T. The slip trigger threshold may be influenced by both temperature and a turning characteristic of the vehicle or by the turning characteristic alone. The yaw rate may also be used to characterize the steering characteristic. In addition, the yaw rate may be determined by a difference in wheel speeds between the right and left sides of the vehicle which indicate the yawing of the vehicle. For a front wheel steer and rear wheel drive vehicle, a reference vehicle speed or a wheel rolling rotation reference speed may be set forth as
V ref =rω f*cos δ
As can be seen, without steering geometry compensation ωref=ωf, the target wheel speed for the driven rear wheels based upon the reference wheel speed would be larger than it would be and allows more slip than ideal during turning.
For a front wheel steer and front wheel drive vehicle, reference vehicle speeds and/or the rolling rotation reference speed may be given as
V ref =rω r*(1/cos δ)
Referring now to
Vehicle yaw rate may be estimated based on wheel speed differences as mentioned above between the right and left wheels. That is, the yaw rate estimate may be given by
As can be seen above, the present invention advantageously allows an improved system by adjusting the slip trigger independently of the slip target.
While particular embodiments of the invention have been shown and described, numerous variations and alternate embodiments will occur to those skilled in the art. Accordingly, it is intended that the invention be limited only in terms of the appended claims.
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|U.S. Classification||701/82, 701/69, 701/91, 701/54, 701/87, 701/38, 180/244, 180/197|
|International Classification||G05F7/00, B60T7/12, G06F17/00|
|Oct 7, 2005||AS||Assignment|
Owner name: FORD GLOBAL TECHNOLOGIES, LLC, MICHIGAN
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:FORD MOTOR COMPANY;REEL/FRAME:016629/0362
Effective date: 20051007
Owner name: FORD MOTOR COMPANY, MICHIGAN
Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:HROVAT, DAVOR;CUNNINGHAM, RALPH;LAZAREVSKI, PETER;AND OTHERS;REEL/FRAME:016629/0179;SIGNING DATES FROM 20050805 TO 20050815
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