Abstract: A technique for determining a slip angle of a motor vehicle, while compensating for bank angle of the motor vehicle, includes a number of steps. Initially, a first lateral velocity of a motor vehicle is determined, without consideration of a bank angle and is derived from an integral of a first lateral velocity derivative (vy dot). A second lateral velocity of the motor vehicle is also determined, with consideration of the bank angle and is derived from an integral of a second lateral velocity derivative. A third lateral velocity of the motor vehicle is also determined, with consideration of the bank angle and the first and second lateral velocities and is derived from an integral of a third lateral velocity derivative. A longitudinal velocity of the motor vehicle is also determined. A slip angle of the motor vehicle is then determined, based upon the third lateral velocity and the longitudinal velocity or the first lateral velocity and the longitudinal velocity.

Abstract: The invention provides a method for controlling a vehicle with a braking system including a modulator pump. A first fluid line can communicate brake fluid from the master cylinder to a brake caliper. An isolation valve including a pressure bypass can be disposed along the fluid line between the master cylinder and the brake caliper. A second fluid line can extend from a first position along the first fluid line between the master cylinder and the isolation valve to a second position along the first fluid line between the isolation valve and the brake caliper. A modulating pump is disposed along the second fluid line to pump fluid to the brake caliper during a controlled brake event. The modulator pump is engaged to pump fluid to the brake caliper until the pressure in the first fluid line reached slightly below the predetermined pressure to prevent the isolation valve from opening in response to excessive pressure.

Abstract: Noise produced during a supplemental brake apply is reduced eliminated by reducing the quantity of additional brake fluid supplied to the pump during the apply. The prime valve is opened only at the initiation of the supplemental apply to supply a predetermined small quantity of brake fluid to the accumulator and pump inlet and is then closed for the remainder of the apply. The quantity of extra fluid supplied can be retained by the accumulator and does not need to by blown off back to the master cylinder. The apply valve of the non-regulated wheel brake is controlled to regulate pressure to the regulated wheel brake through the apply valve thereof, which is left open while the release valve of the regulated wheel brake is left closed. The release valve of the non-regulated wheel is controlled to maintain a lower pressure at the non-regulated wheel, preferably equal to the master cylinder pressure whenever possible, while permitting fluid flow back to the accumulator.

Abstract: Noise produced during a supplemental brake apply is reduced eliminated by reducing the quantity of additional brake fluid supplied to the pump during the apply. The prime valve is opened only at the initiation of the supplemental apply to supply a predetermined small quantity of brake fluid to the accumulator and pump inlet and is then closed for the remainder of the apply. The quantity of extra fluid supplied can be retained by the accumulator and does not need to by blown off back to the master cylinder. The apply valve of the non-regulated wheel brake is controlled to regulate pressure to the regulated wheel brake through the apply valve thereof, which is left open while the release valve of the regulated wheel brake is left closed. The release valve of the non-regulated wheel is controlled to maintain a lower pressure at the non-regulated wheel, preferably equal to the master cylinder pressure whenever possible, while permitting fluid flow back to the accumulator.

Abstract: A four-wheel drive anti-lock brake control in which the existence of torque transfer between the front and rear wheels of the vehicle is detected based on differences in the duration of ABS control used at each of the independently controlled wheels. Such differences are used to determine a ratio of rear-to-front (or front-to-rear) ABS control. If the ratio indicates the presence of torque transfer, the wheel causing the transfer is identified and its brake pressure released as required to alleviate the detected torque transfer, so long as the release will not cause a change in vehicle deceleration.

Abstract: Improved control for a hydraulic system pump motor useful in automotive braking applications, particularly in motor-based ABS, includes a routine for controlling a pump motor so that it is operated in a manner that is not disturbing to automotive vehicle occupants. In particular, the control routine of the present invention controls pump motor operation after an ABS braking event so that the motor is running only when the motor noise is masked by the pulsing of the ABS solenoids or after driver braking pressure is released from the master cylinder. In this way, the amount of objectionable noise transmitted to the automotive vehicle occupants is reduced, while important ABS pump functions, such as the draining of the accumulators following an ABS braking event, are facilitated.

Abstract: In a vehicle with a first operating mode in which all vehicle wheels have substantially no lateral movement on a road surface and a second operating mode in which at least some of the vehicle wheels have lateral movement on the road surface, and with an actuator capable of affecting vehicle yaw rate, a vehicle yaw rate control method comprising the steps of: measuring an actual vehicle yaw rate; measuring vehicle steering wheel position; in the second mode of operation, determining a desired yaw rate command linearly responsive to the measured steering wheel position; wherein the actuator is controlled to minimize a difference between the measured vehicle yaw rate and the desired vehicle yaw rate.