System and method for evaluating vehicle-trailer combination for trailer sway potential using active yaw maneuver

Patent metadata

Field	Value
Publication number	US-11827231-B2
Application number	US-202017134620-A
Country	US
Kind code	B2
Filing date	Dec 28, 2020
Priority date	Dec 28, 2020
Publication date	Nov 28, 2023
Grant date	Nov 28, 2023

Abstract

A system according to the present disclosure includes an actuator control module and a damping ratio module. The actuator control module is configured to control an actuator of a vehicle to cause the vehicle to perform a yaw maneuver by rotating about its yaw axis. The damping ratio module is configured to determine a damping ratio based on an operating parameter measured during the yaw maneuver. The operating parameter includes at least one of a yaw rate of the vehicle, a yaw rate of a trailer connected to the vehicle, a lateral acceleration of the vehicle, a lateral acceleration of the trailer, a heading angle of the vehicle, and a hitch angle between a longitudinal axis of the vehicle and a longitudinal axis of the trailer.

First claim

What is claimed is:

1. A system comprising:
an actuator control module configured to control an actuator of a vehicle to cause the vehicle to perform a first yaw maneuver by rotating about its yaw axis when a speed of the vehicle is equal to a first speed, and to perform a second yaw maneuver when speed of the vehicle is at a second speed that is different than the first speed;
a damping ratio module configured to determine a first damping ratio based on first values of an operating parameter measured during the first yaw maneuver, and to determine a second damping ratio based on second values the operating parameter measured during the second yaw maneuver, wherein the operating parameter includes at least one of a yaw rate of the vehicle, a yaw rate of a trailer connected to the vehicle, a lateral acceleration of the vehicle, a lateral acceleration of the trailer, a heading angle of the vehicle, and a hitch angle between a longitudinal axis of the vehicle and a longitudinal axis of the trailer; and
a critical speed module configured to estimate a critical speed of the vehicle based on the first and second damping ratios and the first and second speeds, wherein the first damping ratio is less than a predetermined value when the speed of the vehicle is greater than or equal to the critical speed.

2. The system of claim 1 wherein the damping ratio module is configured to determine the first damping ratio based on an operating parameter signal indicating a plurality of the first values of the operating parameter measured during the first yaw maneuver.

3. The system of claim 2 further comprising a filtering module configured to apply a band-pass filter to the operating parameter signal, wherein the damping ratio module is configured to determine the first damping ratio based on the filtered operating parameter signal.

4. The system of claim 3 further comprising an oscillation frequency module configured to generate an oscillation frequency signal indicating a frequency of oscillations in the operating parameter signal, wherein the filtering module is configured to determine upper and lower limits of the band-pass filter based on the oscillation frequency signal.

5. The system of claim 1 wherein the critical speed module is configured to:
determine a function that characterizes a relationship between the first damping ratio and the first speed and a relationship between the second damping ratio and the second speed; and
estimate the critical speed of the vehicle using the function.

6. The system of claim 1 further comprising a UID control module configured to control a user interface device to generate a message instructing a driver of the vehicle to inspect at least one of the vehicle and the trader when the critical speed is less than a predetermined speed.

7. The system of claim 1 wherein the actuator control module is configured to select the vehicle actuator from a plurality of actuators of the vehicle based on driving conditions.

8. The system of claim 1 wherein the vehicle actuator includes at least one of a steering actuator, a friction brake, and an electric motor.

9. The system of claim 1 wherein the actuator control module is configured to control the vehicle actuator to cause the vehicle to perform the first yaw maneuver in response to an instruction from a user interface device.

Assignees

• Gm Global Tech Operations Llc

Inventors

• Lin Wen-Chiao
• Yu Bo

Classifications

• B60W40/114 Primary

  Yaw movement · CPC title

• B60D1/30

  for sway control {; Sway alarm means} · CPC title

• B60W40/109

  Lateral acceleration · CPC title

• B62D13/025

  the pivoted movement being initiated by the coupling means between tractor and trailer · CPC title

• B60W10/20 Primary

  including control of steering systems · CPC title