Automotive control unit programmed to estimate road slope and vehicle mass, vehicle with such a control unit and corresponding program product

• US 10,124,806 B2
• Filed: 07/11/2014
• Issued: 11/13/2018
• Est. Priority Date: 07/11/2013
• Status: Active Grant

• Current Assignee: C.R.F. Societa Consortile Per Azioni
• Original Assignee: Cefla Societa' Cooperativa
• Inventors: Raffone, Enrico
• Primary Examiner(s): Hossain, Moazzam
• Application Number:
  US14/901,913
• Publication Number:
  US 20160332633A1
• Time in Patent Office: 1,586 Days
• Field of Search: 702154
• CPC Class Codes: B60G 17/01908 Acceleration or inclination sensors characterised by the use of gyroscopes B60G21/08
• CPC Class Codes: B60G 2400/60 Load
• CPC Class Codes: B60G 2400/61 Load distribution
• CPC Class Codes: B60G 2400/63 Location of the center of gravity
• CPC Class Codes: B60T 2250/02 Vehicle mass
• 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 8/18 responsive to vehicle weight or load, e.g. load distribution using electrical circuitry on regulation means B60T8/17; B60T8/30 takes precedence; responsive to weight and speed condition B60T8/58
• CPC Class Codes: B60W 2050/0059 Signal noise suppression
• CPC Class Codes: B60W 2510/0657 Engine torque
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/105 Longitudinal acceleration
• CPC Class Codes: B60W 2530/10 Weight
• CPC Class Codes: B60W 2530/16 Driving resistance
• CPC Class Codes: B60W 2552/15 Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 40/076 Slope angle of the road
• CPC Class Codes: B60W 40/13 Load or weight
• CPC Class Codes: F16H 2059/663 Road slope
• CPC Class Codes: F16H 2061/0078 Linear control, e.g. PID, state feedback or Kalman
• CPC Class Codes: F16H 59/52 dependent on the weight of the machine, e.g. change in weight resulting from passengers boarding a bus
• CPC Class Codes: G01C 9/08 : Means for compensating acceleration forces due to movement of instrument
• CPC Class Codes: G01G 19/08 : for incorporation in vehicles
• CPC Class Codes: G01G 19/086 : wherein the vehicle mass is dynamically estimated

Abstract

Automotive electronic control unit programmed to realtime estimate either or both of vehicle mass and road slope, wherein; a. road slope, is estimated; a1. when vehicle is considered stopped based on an accelerometer signal indicative of vehicle acceleration, wherein the vehicle is considered stopped in the presence of substantially zero values of a speed signal indicative of vehicle speed, and a2. when vehicle is in rectilinear and curvilinear motion by implementing a road slope observer based on a linear Kalman filter, which is designed to: a21. operate based on signals indicative of vehicle speed and acceleration, and a22. compensate for accelerometric disturbances due to; a221. vehicle static pitch resulting from vehicle load distribution, and a222. vehicle dynamic pitch due to acceleration to which vehicle is subjected during motion, and a223. accelerometric disturbance components due to vehicle lateral dynamics; b. vehicle mass is estimated: b1. when vehicle is in motion, and b2. based on a recursive least square algorithm with forgetting factor, and b3. based on an accelerometric signal indicative of vehicle acceleration, on a vehicle speed signal, and other signals representing a vehicle propulsive/resistive torque, and b4. at different low gears, to provide a mass estimation and an associated variance for each gear, and b5. based on mass estimations and corresponding variances for each gear, and b6. compensating for accelerometer disturbances due to: b61, vehicle dynamic pitch; and b62. accelerometric disturbance components due to vehicle lateral dynamics; and b7. minimizing uncertainties on propulsive/resistive torque due to gear efficiency and rolling resistance.

Claims

1. An automotive electronic control system comprising:

an accelerometer;

a sensor associated with the accelerometer for providing a vehicle acceleration signal;

a vehicle speed sensor for providing a vehicle speed signal;

a plurality of vehicle propulsion and torque sensors for providing vehicle propulsive/resistive torque signals;

a stationary lateral compensation means which makes a correction to limit vehicle lateral dynamics that, in curves, introduces an additional term to the vehicle acceleration signal wherein said lateral compensation means is based on a bike model and on target parameters of the vehicle;

a forgetting factor means which minimizes prediction error according to quadratic principles and reduces recursive least squares problems regarding progressive decay of algorithm reactivity with sampling aging;

an electronic control unit configured to receive the vehicle acceleration signal, the vehicle speed signal, and the vehicle propulsive/resistive torque signals for generating a command for vehicular control based in part on the vehicle mass, wherein the vehicle mass is estimated in real time;

when the vehicle is in motion,

compensating for accelerometric disturbances due to;

the vehicle dynamic pitch;

accelerometric components due to the vehicle lateral dynamics; and

based on a recursive least square algorithm with the forgetting factor inputted with a compensated acceleration signal for the vehicle, and

at different low gears, to estimate the vehicle mass and associated variance for each gear, and

based on the vehicle mass estimations and corresponding variances for each gear,

minimizing uncertainties on propulsive/resistive torque due to gear efficiency and rolling resistance; and

a vehicle control means for providing automated control of the vehicle based on the control command from the electronic control unit.

2. The automotive electronic control system according to claim 1, further programmed to real-time estimate road slope:

when the vehicle is considered stopped;

based on the vehicle acceleration signal,

wherein the vehicle is considered stopped in the presence of substantially zero values of the vehicle speed signal;

when the vehicle is in rectilinear and curvilinear motion;

compensating for accelerometric disturbances due to;

the vehicle static pitch resulting from the vehicle load distribution, and

the vehicle dynamic pitch due to acceleration to which the vehicle is subjected during motion, and

accelerometric disturbance components due to the vehicle lateral dynamics;

implementing a road slope observer based on a linear Kalman filter inputted with the vehicle speed signal and the compensated acceleration signal for the vehicle.

3. The automotive electronic control system according to claim 2, further programmed to:

link road slope estimation carried out when the vehicle is considered stopped and in motion;

starting road slope estimation when the vehicle is stopped based on the latest road slope estimations when the vehicle was in motion, and

starting road slope estimation when the vehicle is in motion based on the latest road slope estimations when the vehicle was stopped.

4. The automotive electronic control system according to claim 2, further programmed to either:

estimate road slope and the vehicle mass independently, or

estimate road slope based on the vehicle mass estimation.

5. The automotive electronic control system according to claim 2, further programmed to estimate road slope:

when the vehicle is in curvilinear motion;

for the vehicle lateral acceleration values comprised in a predetermined range, using the road slope observer,

having compensated accelerometric disturbances due to the vehicle lateral acceleration.

6. The automotive electronic control system according to claim 2, further programmed to compensate for accelerometric disturbances due to the vehicle static and dynamic pitches:

estimating the vehicle static pitch resulting from the vehicle load distribution based on estimated vehicle mass and attitudes diagram, and

estimating the vehicle dynamic pitch based on the vehicle acceleration signal during motion.

7. The automotive electronic control system according to claim 1, further programmed to estimate the vehicle mass:

limiting dynamic pitch effects and accelerometric disturbances effects due to the vehicle lateral acceleration on the vehicle mass estimation.

8. The automotive electronic control system according to claim 1, wherein the vehicle mass estimation is carried out as a weighted average of individual mass estimations at different gear engaged, and wherein the estimated vehicle mass is associated an overall variance computed as an average of individual variances associated with individual mass estimations.

9. The automotive electronic control system according to claim 1, wherein the vehicle mass is estimated when the vehicle is in motion and only when propulsive/resistive torque is considered reliable, and wherein the vehicle mass estimation is considered to be reliable when overall variance of estimated mass for the vehicle is lower than a threshold value.

10. The automotive electronic control system according to claim 1, wherein the vehicle mass is estimated when the vehicle is in motion and is considered to be reliable even when the vehicle successively stops.

11. The automotive electronic control system according to claim 1, wherein the vehicle mass is estimated every time that predetermined events occur that make unreliable the previous mass estimation for the vehicle.

12. A vehicle comprising an automotive electronic control unit (ECU) according to claim 1.

13. Computer software loadable into an automotive electronic control unit and designed to cause, when executed, the automotive electronic control unit to become programmed as claimed in claim 1.

14. A method for automatically estimating vehicular mass in real time for a vehicle in motion for vehicular control, comprising:

obtaining a vehicle acceleration signal from an accelerometer;

obtaining a vehicle speed signal and signals representing vehicle propulsive force from the vehicle speed sensors and from the vehicle propulsion and torque sensors;

adjusting, the vehicle acceleration signal when the vehicle is in motion for accelerometric disturbances due to the vehicle dynamic pitch and for accelerometric components due to the vehicle lateral dynamics wherein the lateral dynamics are introduced in an estimator compensation block using bike model and on-target parameters;

inputting the adjusted vehicle acceleration signal for the vehicle to a recursive least square function with a forgetting factor tied to the compensated acceleration signal wherein the forgetting factor minimizes prediction error according to quadratic principles, and reduces recursive least squares problems regarding progressive decay of algorithm reactivity with sampling aging, and

generating automatically in real time the vehicle mass signals corresponding to variances for each gear based on a the vehicle mass estimated for each gear while minimizing uncertainties on the propulsive/resistive torque signals due to gear efficiency and rolling resistance; and

automatically controlling the vehicle based on the real time vehicle mass signals.