Method, arrangement and system for estimating vehicle cornering stiffness
First Claim
1. A method for estimating one or more vehicle cornering stiffness parameters in a linear operating region of a vehicle, the method comprising:
- retrieving from a vehicle longitudinal velocity sensor, a vehicle lateral acceleration sensor, a vehicle yaw rate sensor, and a vehicle steering angle sensor data representative of at least a vehicle longitudinal velocity, a vehicle lateral acceleration, a vehicle yaw rate, and a vehicle steering angle;
sending the sensor data representative of at least the vehicle longitudinal velocity, the vehicle lateral acceleration, the vehicle yaw rate and the vehicle steering angle to a control system;
determining, by the control system, from the sensor data when vehicle cornering stiffness parameters are observable; and
when vehicle cornering stiffness parameters are observable, generating, by the control system, a cornering stiffness parameter signal based on an estimate of the cornering stiffness parameters provided using a bicycle model that includes a model of tire relaxation dynamics describing the delay between when a slip angle is introduced and when a resulting lateral force reaches a steady state value.
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Abstract
A method, arrangement and system are described for estimating one or more vehicle cornering stiffness parameters (cf, cr) in a linear vehicle operating region. The method includes reading sensor data representative of at least vehicle (1) longitudinal velocity (vx), vehicle lateral acceleration (ay), vehicle yaw rate (ωz) and vehicle steering angle (δ), determining from the read sensor data if the cornering stiffness parameters (cf, cr) are observable, and if so providing an estimate of the cornering stiffness parameters (cf, cr) using a bicycle model that includes a model of tire relaxation dynamics.
20 Citations
11 Claims
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1. A method for estimating one or more vehicle cornering stiffness parameters in a linear operating region of a vehicle, the method comprising:
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retrieving from a vehicle longitudinal velocity sensor, a vehicle lateral acceleration sensor, a vehicle yaw rate sensor, and a vehicle steering angle sensor data representative of at least a vehicle longitudinal velocity, a vehicle lateral acceleration, a vehicle yaw rate, and a vehicle steering angle; sending the sensor data representative of at least the vehicle longitudinal velocity, the vehicle lateral acceleration, the vehicle yaw rate and the vehicle steering angle to a control system; determining, by the control system, from the sensor data when vehicle cornering stiffness parameters are observable; and when vehicle cornering stiffness parameters are observable, generating, by the control system, a cornering stiffness parameter signal based on an estimate of the cornering stiffness parameters provided using a bicycle model that includes a model of tire relaxation dynamics describing the delay between when a slip angle is introduced and when a resulting lateral force reaches a steady state value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. An arrangement for estimating one or more vehicle cornering stiffness parameters in a linear operating region of a vehicle, the arrangement comprising:
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a vehicle longitudinal velocity sensor for providing a vehicle longitudinal velocity signal; a vehicle lateral acceleration sensor for providing a vehicle lateral acceleration signal; a vehicle yaw rate sensor for providing a yaw rate signal of the vehicle; a steering angle sensor for providing a steering angle signal of the vehicle; a cornering stiffness parameter observability determination unit arranged to determine from the sensor data when vehicle cornering stiffness parameters are observable; and a cornering stiffness parameter estimation unit arranged to generate, when vehicle cornering stiffness parameters are observable, a cornering stiffness parameter signal using a bicycle model that includes a model of tire relaxation dynamics describing the delay between when a slip angle is introduced and when a resulting lateral force reaches a steady state value.
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11. A system for estimating one or more vehicle cornering stiffness parameters in a linear operating region of a vehicle, the system comprising:
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a vehicle longitudinal velocity sensor for providing a vehicle longitudinal velocity signal; a vehicle lateral acceleration sensor for providing a vehicle lateral acceleration signal; a vehicle yaw rate sensor for providing a yaw rate signal of the vehicle; a steering angle sensor for providing a steering angle signal of the vehicle; a control system comprising a processor and associated memory storing computer executable instructions, wherein the instructions when executed by the processor cause the processor to read sensor data including the vehicle longitudinal velocity signal, the vehicle lateral acceleration signal, the yaw rate signal and the steering angle signal; determine from the sensor data read when vehicle cornering stiffness parameters are observable; and when vehicle cornering stiffness parameters are observable, generate a cornering stiffness parameter signal based on an estimate of the cornering stiffness parameters provided using a bicycle model that includes a model of tire relaxation dynamics describing the delay between when a slip angle is introduced and when a resulting lateral force reaches a steady state value.
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Specification