Corner-based longitudinal speed estimation

• US 10,040,460 B2
• Filed: 07/29/2016
• Issued: 08/07/2018
• Est. Priority Date: 07/29/2016
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: Kasaiezadeh Mahabadi, SeyedAlireza, Hashemi, Ehsan, Khajepour, Amir, Chen, Shih-ken, Litkouhi, Bakhtiar B.
• Primary Examiner(s): Badii, Behrang
• Application Number:
  US15/223,817
• Publication Number:
  US 20180029603A1
• Time in Patent Office: 739 Days
• CPC Class Codes: B60L 3/102 of individual wheels
• CPC Class Codes: B60L 3/108 whilst braking, i.e. ABS
• CPC Class Codes: B60T 2201/16 Curve braking control, e.g. turn control within ABS control algorithm
• CPC Class Codes: B60T 2250/04 Vehicle reference speed; Vehicle body speed
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence
• CPC Class Codes: B60T 8/1755 Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02
• CPC Class Codes: B60W 2050/0052 Filtering, filters
• CPC Class Codes: B60W 2520/105 Longitudinal acceleration
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2520/28 Wheel speed
• CPC Class Codes: B60W 30/02 Control of vehicle driving stability
• CPC Class Codes: B60W 30/14 Adaptive cruise control
• CPC Class Codes: B60W 40/10 related to vehicle motion
• CPC Class Codes: B60W 40/101 Side slip angle of tyre
• CPC Class Codes: B60W 40/105 Speed
• CPC Class Codes: B60W 40/107 Longitudinal acceleration
• CPC Class Codes: B60W 40/109 Lateral acceleration
• CPC Class Codes: B60W 40/114 Yaw movement
• CPC Class Codes: G16Z 99/00 Subject matter not provided for in other main groups of this subclass

Abstract

A system and method for computationally estimating a directional velocity of a vehicle in real time under different configurations and road conditions for use in vehicle antilock braking, adaptive cruise control, and traction and stability control by correcting measured accelerations with respect to the estimated road angles. A time window is used to provide reliable mapped acceleration for the transient regions and maneuvers on gravel surfaces with high fluctuations in the acceleration measurement. Longitudinal and lateral accelerations are mapped from the vehicle'"'"'s CG into the tire coordinates using the vehicle'"'"'s geometry, lateral velocity, yaw rate, and the steering wheel angle to generate system matrices of the combined kinematic-force estimation structure.

Claims

1. A vehicle control system comprising:

a sensor for measuring a wheel speed;

a processor for determining a first acceleration at a vehicle center of gravity and for estimating a second acceleration at a vehicle corner in response to the first acceleration and the wheel speed and for estimating a third acceleration at the vehicle center of gravity in response to the second acceleration; and

a controller for controlling the vehicle in response to the third acceleration.

2. The vehicle control system of claim 1 wherein the controller is part of an adaptive cruise control system.

3. The vehicle control system of claim 1 wherein the controller is part of an antilock braking system.

4. The vehicle control system of claim 1 wherein the sensor for measuring a wheel speed if further operative to detect a high slip condition of a wheel.

5. The vehicle control system of claim 1 wherein the processor is further operative to determine a high slip condition of a wheel in response to the wheel speed, the processor further operative to apply a time based filtering to the wheel speed in order to determine a corrected wheel speed.

6. The vehicle control system of claim 5 wherein the controller is operative to control the vehicle in response to the corrected wheel speed.

7. The vehicle control system of claim 5 wherein the time based filtering is a Kalman filter.