Method and apparatus for compensating misalignments of a sensor system used in a vehicle dynamic control system
First Claim
1. A method for controlling a vehicle dynamics control system comprising:
- determining a roll misalignment angle;
determining a pitch misalignment angle;
determining a yaw misalignment angle; and
activating a safety system as a function of said roll misalignment angle, the pitch misalignment angle and the yaw misalignment angle.
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Accused Products
Abstract
A control system (18) for an automotive vehicle (10) having a vehicle body includes a sensor system (16) having housing (52) oriented within the vehicle body. Positioned within the housing (52) are a roll angular rate sensor (31), a yaw angular rate sensor (30), a pitch angular rate sensor (32), a lateral acceleration sensor (27), a longitudinal acceleration sensor (28), and a vertical acceleration sensor (29). The vehicle (10) also has a safety system (38). The controller (26) determines a roll misalignment angle, a pitch misalignment angle and a yaw misalignment angle as a function of the sensor outputs of the roll rate, the pitch rate, the yaw rate, the lateral acceleration, the longitudinal acceleration and the vertical acceleration. The motion variables the vehicle along the vehicle body-fixed frames, including the roll rate, the pitch rate, the yaw rate, the lateral acceleration, the longitudinal acceleration and the vertical acceleration, are then compensated based on the detected sensor misalignments and the sensor outputs of the roll rate, the pitch rate, the yaw rate, the lateral acceleration, the longitudinal acceleration and the vertical acceleration. The controller (26) generates a control signal for controlling the safety system in response to the compensated roll rate, pitch rate, yaw rate, lateral acceleration, longitudinal acceleration and vertical acceleration.
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Citations
18 Claims
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1. A method for controlling a vehicle dynamics control system comprising:
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determining a roll misalignment angle;
determining a pitch misalignment angle;
determining a yaw misalignment angle; and
activating a safety system as a function of said roll misalignment angle, the pitch misalignment angle and the yaw misalignment angle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A method for controlling a vehicle dynamics control system comprising:
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determining a roll misalignment angle;
determining a global roll angle as a function of the roll angle misalignment;
determining a pitch misalignment angle;
determining a global pitch angle as a function of the pitch angle misalignment;
determining a yaw misalignment angle;
determining a global yaw angle as a function of the yaw angle misalignment; and
activating a safety system in response to said global roll angle, said global pitch angle, and said global yaw angle.
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16. A control system for an automotive vehicle having a vehicle body comprising:
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a sensor system having a housing oriented within the vehicle body;
a roll angular rate sensor positioned within the housing generating a roll angular rate signal corresponding to roll angular motion of the sensor housing;
a yaw angular rate sensor positioned within the housing generating a yaw rate signal corresponding to a yaw motion of the sensor housing;
a pitch angular rate sensor positioned within the housing generating a pitch rate signal corresponding to a pitch motion of the sensor housing;
a lateral acceleration sensor positioned within the housing generating a lateral acceleration signal corresponding to a lateral acceleration of the sensor housing;
a longitudinal acceleration sensor positioned within the housing generating a longitudinal acceleration signal corresponding to the longitudinal acceleration of the sensor housing;
a vertical acceleration sensor positioned within the housing generating a vertical acceleration signal corresponding to the vertical acceleration of the sensor housing;
a wheel speed sensor generating a wheel speed signal corresponding to a wheel speed of the vehicle;
a safety system; and
a controller coupled to said roll angular rate sensor, said yaw angular rate sensor, said pitch angular rate sensor, said lateral acceleration sensor, said longitudinal acceleration sensor, said vertical acceleration sensor and said wheel speed sensor, said controller determining a roll misalignment angle;
determining a pitch misalignment angle;
determining a yaw misalignment angle as a function of said roll rate, said pitch rate, said yaw rate, said lateral acceleration, said longitudinal acceleration and said vertical acceleration, said controller generating a control signal for controlling said safety system in response to said roll misalignment angle, said pitch misalignment angle and said yaw misalignment angle. - View Dependent Claims (17, 18)
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Specification