Abstract: A method is provided for estimating vehicle velocity for a vehicle using a single-antenna global positioning system (GPS). An absolute speed and a course angle of the vehicle is measured using the single-antenna GPS. The yaw rates of the vehicle are measured independently of the GPS. An integrated yaw rate of the vehicle is calculated as a function of the measured yaw rates over a period of time. A yaw angle is determined as a function of a reference yaw angle and the integrated yaw rate. Aside slip angle is calculated as a function of the estimated yaw angle and the course angle provided by the GPS. The vehicle velocity is determined as a function of the absolute speed and the side slip angle. The vehicle velocity is provided to a vehicle dynamic control application.

Abstract: A rollover avoidance method may include determining tire loading for at least two tires of a vehicle. A stability of the vehicle with regard to rolling over may be predicted based at least on the determined tire loading. The vehicle may be controlled at least on the basis of the predicted stability.

Abstract: A system and method is provided for determining a lateral velocity and a longitudinal velocity of a vehicle equipped. The vehicle includes only one antenna for a GPS receiver and a magnetic compass. A magnitude of a velocity vector of the vehicle is determined. A course angle with respect to a fixed reference using the single antenna GPS receiver is determined. A yaw angle of the vehicle is measured with respect to the fixed reference using a magnetic compass. A side slip angle is calculated as a function of the course angle and the yaw angle. The lateral velocity and longitudinal velocity is determined as a function of the magnitude of the velocity vector and the side slip angle.

Abstract: A method of stabilizing a vehicle is provided. The vehicle is travelling at a forward speed and a lateral speed, and comprises a lateral acceleration sensor, a yaw sensor adapted to detect an actual yaw rate of the vehicle around a central axis, a steering mechanism adapted to steer the vehicle by a steered yaw rate, and an electronic stability control system.

Abstract: A method, and a system using the method, of controlling a towing vehicle that is connected to a vehicle trailer. The method includes sensing a set of vehicle targets and a set of vehicle conditions in response to the set of vehicle targets. The method also includes determining a plurality of differences between the set of vehicle targets and the set of vehicle conditions, determining a trend of the plurality of differences, generating at least one of a symmetric signal and an asymmetric signal based on the trend, and actuating a vehicle system with the at least one of a symmetric signal and an asymmetric signal.

Abstract: The invention relates to a method for preventing tip-over of a motor vehicle in the lateral direction, in which a finite number of predefined driving states is specified; in which a determination is made as to which of the predefined driving states the vehicle is in instantaneously, the predefined driving state thus determined being dependent on sensor signals and on that predefined driving state in which the vehicle was most recently; and as a function of the predefined driving state instantaneously present, at least one braking intervention is carried out in order to prevent the tip-over.

Abstract: Systems and methods for detecting road bank and determining road bank angle include determining a road bank angle as a function of difference in slip angle where the difference in slip angle is a function of difference in course angle and difference in yaw angle.

Abstract: An analytical methodology for the specification of progressive optimal compression damping of a suspension system to negotiate severe events, yet provides very acceptable ride quality and handling during routine events. In a broad aspect, the method provides a progressive optimal unconstrained damping response of the wheel assembly with respect to the body. In a preferred aspect, the method provides a progressive optimal constrained damping response of the wheel assembly with respect to the body, wherein below a predetermined velocity a conventional damper force is retained.

Abstract: An analytical methodology for the specification of progressive optimal compression damping of a damper of a suspension system to negotiate a multiplicity of severe events, yet provides very acceptable ride quality and handling during routine events. The damping response of the damper is optimized based upon a progressive optimal constrained events damping function derived from a low envelope curve incorporated with a predetermined damper force acting on the wheel center below a predetermined wheel center velocity, u1, based on ride and handling considerations for a given vehicle or vehicle model according to the prior art methodology, whereby the low envelope curve is constructed utilizing a one degree of freedom nonlinear mechanical system model or a quarter car nonlinear mechanical system model.

Abstract: A method to control a vehicle includes monitoring desired vehicle force and moment, monitoring real-time corner constraints upon vehicle dynamics which includes monitoring corner states of health for the vehicle, and monitoring corner capacities for the vehicle. The method further includes determining a desired corner force and moment distribution based upon the desired vehicle force and moment and the real-time corner constraints, and controlling the vehicle based upon the desired corner force and moment distribution.

Abstract: A method for estimating the normal force at a wheel of a vehicle and the vertical acceleration of the vehicle that has particular application for ride and stability control of the vehicle. The method includes obtaining a suspension displacement value from at least one of a plurality of suspension displacement sensors mounted on the vehicle and estimating a spring force acting on a spring of a suspension element of the vehicle, a damper force acting on a damper of the suspension element of the vehicle, and a force acting at a center of a wheel. The method further includes determining a normal force at the wheel of the vehicle and a vertical acceleration of the vehicle based on the spring force, the damper force and the force at the center of the wheel of the vehicle.

Abstract: A system and method for estimating vehicle lateral velocity that defines a relationship between front and rear axle lateral forces and front and rear axle side-slip angles. The method includes providing measurements of vehicle yaw-rate, lateral acceleration, longitudinal speed, and steering angle. The method also includes using these measurements to provide a measurement of the front and rear axle forces. The method calculates a front axle lateral velocity and a rear axle lateral velocity, and calculates a front axle side-slip angle based on the rear axle lateral velocity and a rear axle side-slip angle based on the front axle lateral velocity. The method then estimates front and rear axle forces, and selects a virtual lateral velocity that minimizes an error between the estimated and measured lateral axle forces. The method then provides an estimated vehicle lateral velocity using the selected virtual lateral velocity.

Abstract: A method to control a vehicle includes monitoring desired vehicle force and moment, monitoring real-time corner constraints upon vehicle dynamics which includes monitoring corner states of health for the vehicle, and monitoring corner capacities for the vehicle. The method further includes determining a desired corner force and moment distribution based upon the desired vehicle force and moment and the real-time corner constraints, and controlling the vehicle based upon the desired corner force and moment distribution.

Abstract: A system and method for facilitating ride and stability control of a vehicle. The system includes a plurality of suspension displacement sensors, with each of the plurality of suspension displacement sensors positioned proximate to a suspension element of the vehicle. The system further includes a nonlinear filter for filtering out a wheel hop frequency from the suspension velocity corresponding to at least one of the plurality of suspension displacement sensors to obtain a resultant suspension velocity. The resultant suspension velocity is used by a control unit to determine the pitch velocity, roll velocity and the heave velocity of the vehicle.

Abstract: A system and method for estimating vehicle lateral velocity and surface coefficient of friction using front and rear axle lateral force versus side-slip angle tables and sensor measurements. The sensor measurements include lateral acceleration, yaw-rate, longitudinal speed and steering angle of the vehicle. The method includes calculating front and rear axle lateral forces and front and rear side-slip angles on the axles of the vehicle. The method also includes identifying two equations from the calculated lateral forces and the vehicle measurements. The method provides tables that identify a relationship between the calculated front and rear axle lateral forces and the front and rear side-slip angles, and determines the vehicle lateral velocity and surface coefficient of friction from the tables.

Abstract: A system and method for estimating surface coefficient of friction in a vehicle system. The method includes providing a kinematics relationship between vehicle yaw-rate, vehicle speed, vehicle steering angle and vehicle front and rear axle side-slip angles that is accurate for all surface coefficient of frictions on which the vehicle may be traveling. The method defines a nonlinear function for the front and rear axle side-slip angles relating to front and rear lateral forces and coefficient of friction, and uses the nonlinear function in the kinematics relationship. The method also provides a linear relationship of the front and rear axle side-slip angles and the front and rear lateral forces using the kinematics relationship. The method determines that the vehicle dynamics have become nonlinear using the linear relationship and then estimates the surface coefficient of friction when the vehicle dynamics are nonlinear.

Abstract: A vehicle includes wheels, force sensors adapted for a vertical force and lateral force of each wheel, an onboard device, and a controller. The controller calculates vehicle values using the vertical force and lateral force, compares the values to a corresponding threshold, and automatically deploys the device when each element value does not exceed a corresponding threshold. A method for determining when to deploy an airbag includes measuring a vertical and lateral force at each wheel, and measuring a yaw rate and roll angle. A lateral velocity is calculated using the lateral force, and a lift of each wheel is calculated using the vertical force. The roll angle, roll rate, and stopping time are processed to generate a point on a 3D rollover plane. A rollover energy rate is calculated, and the airbag deploys when the point, rollover energy rate, and lift do not exceed a threshold.

Abstract: A system and method for estimating vehicle lateral velocity. The method uses a kinematic estimator constructed as a closed-loop Leunberger observer. The kinematic estimator is based on a kinematic relationship between lateral acceleration measurement and rate of change of lateral velocity. The method provides measurement updates based on virtual lateral velocity measurements from front and rear axle lateral force versus axle side-slip angle tables using the lateral acceleration, yaw-rate, longitudinal speed, and steering angle measurements. The method calculates front and rear axle lateral forces from the lateral acceleration and yaw-rate measurements. The method estimates front and rear axle side-slip angles from the calculated front and rear axle lateral forces using the tables.

Abstract: Systems and methods for detecting road bank and determining road bank angle include determining a road bank angle as a function of difference in slip angle where the difference in slip angle is a function of difference in course angle and difference in yaw angle.

Abstract: A method that detects whether the vibration level of the wheel is within the resonating frequency range by utilizing discrete velocity measurements. The method includes continuously measuring velocity levels of a wheel relative to a sprung mass vehicle component. These measurements are continuously recorded over a period of time. A periodic algorithm is provided, and the periodic algorithm and the velocity measurements are utilized to determine an output value. The output value is utilized to determine whether the vibration level of the wheel is within the resonating frequency range.