System and method for detecting roll rate sensor fault

• US 20040059480A1
• Filed: 07/16/2003
• Published: 03/25/2004
• Est. Priority Date: 08/01/2002
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Tseng, Hongtei Erio, Xu, Li, Hrovat, Davorin David
• Granted Patent: US 6,941,205 B2
• Time in Patent Office: Days
• US Class Current: 701/34
• CPC Class Codes: B60G 17/0162 mainly during a motion involving steering operation, e.g. cornering, overtaking B60G17/0164 takes precedence
• CPC Class Codes: B60G 17/0182 involving parameter estimation, e.g. observer, Kalman filter
• CPC Class Codes: B60G 17/0185 for failure detection
• CPC Class Codes: B60G 17/0195 characterised by the regulation being combined with other vehicle control systems conjoint control of vehicle sub-units including control of suspension systems B60W10/22
• CPC Class Codes: B60G 2600/08 Failure or malfunction detecting means
• CPC Class Codes: B60G 2600/1871 Optimal control; Kalman Filters
• CPC Class Codes: B60G 2800/0194 transversal with regard to vehicle
• CPC Class Codes: B60G 2800/215 by applying a braking action on each wheel individually
• CPC Class Codes: B60G 2800/80 Detection or control after a system or component failure
• CPC Class Codes: B60G 2800/922 EBV - Electronic brake force distribution
• CPC Class Codes: B60R 16/0233 Vehicle tilting, overturning or roll over
• CPC Class Codes: B60R 2021/0018 Roll-over
• CPC Class Codes: B60R 2021/01122 Prevention of malfunction
• CPC Class Codes: B60R 2021/01327 Angular velocity or angular acceleration
• CPC Class Codes: B60R 21/01 Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents electrical circuits for transmission of signals between steering wheel and the vehicle itself B60R16/027; for electrically actuating belt retractor locking means B60R22/343
• CPC Class Codes: B60R 21/013 including means for detecting collisions, impending collisions or roll-over
• CPC Class Codes: B60R 21/0132 responsive to vehicle motion parameters , e.g. to vehicle longitudinal or transversal deceleration or speed value
• CPC Class Codes: B60T 17/22 Devices for monitoring or checking brake systems; Signal devices
• CPC Class Codes: B60T 2230/03 Overturn, rollover
• CPC Class Codes: B60T 2240/06 Wheel load; Wheel lift
• CPC Class Codes: B60T 2270/413 : Plausibility monitoring, cross check, redundancy
• CPC Class Codes: B60T 8/00 : Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force by changing number of effective brake cylinders in power brake systems B60T17/10
• 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: B60T 8/241 : Lateral vehicle inclination
• CPC Class Codes: B60T 8/243 : for roll-over protection
• CPC Class Codes: B60T 8/885 : using electrical circuitry
• CPC Class Codes: B60W 30/04 : related to roll-over prevention

Abstract

A control system for an automotive vehicle having a vehicle body includes a sensor cluster having a housing oriented within the vehicle body. A roll rate sensor is positioned within the housing and generates a roll rate sensor signal corresponding to a roll angular motion of the sensor housing. A controller receives the roll rate sensor signal and generates a reference roll angle. The controller also compares the reference roll angle to the roll rate sensor signal and generates a roll rate sensor fault signal in response a fault determined in said roll rate sensor.

Claims

1. A method for detecting a roll rate sensor fault comprising:

generating a reference roll angle;

generating a roll rate sensor signal;

comparing said reference roll angle to said roll rate sensor signal; and

generating a roll rate sensor fault signal in response to comparing said reference roll angle to said roll rate sensor signal.

2. A method as recited in claim 1 further comprising compensating for a valid signal bias in said roll rate sensor signal.

3. A method as recited in claim 2, wherein compensating for a valid signal bias further comprises adjusting an electrical long term bias over time with a minute adjustment at each sampling time or a sliding mode control.

4. A method as recited in claim 2, wherein compensating for a valid signal bias further comprises adjusting a mechanical long term sensor alignment pitch angle with a minute adjustment at each sampling time during vehicle turning or a sliding mode control during vehicle turning.

5. A method as recited in claim 2, wherein compensating for a valid signal bias further comprises halting roll rate sensor signal compensation in response to a fault flag or in response to a situation where compensation is unnecessary.

6. A method as recited in claim 1, wherein generating said reference roll angle further comprises sensing at least one of lateral acceleration, yaw rate, vehicle longitudinal speed, vehicle roll angle, wheel speed, or a GPS.

7. A method as recited in claim 1 further comprising refining said reference roll angle through steering wheel angle information to reduce a negligence error of a lateral velocity derivative.

8. A method as recited in claim 1 further comprising refining said reference roll angle with a calculation of a dynamic relation between a vehicle lateral acceleration and a suspension roll motion.

9. A method as recited in claim 1, wherein comparing said reference roll angle to said roll rate sensor signal comprises comparing a low pass filter version of a derivative of said reference roll angle with said roll rate sensor signal.

10. A method as recited in claim 1, wherein comparing said reference roll angle to said roll rate sensor signal comprises comparing a high pass filtered reference roll angle with a high pass filtered version of an integration of said roll rate sensor signal.

11. A method as recited in claim 1, wherein comparing said reference roll angle to said roll rate sensor signal comprises comparing said reference roll angle and said roll rate sensor signal through building a filter utilizing both a suspension dynamics and a kinematics relationship between roll angle and roll rate.

12. A method as recited in claim 1, wherein comparing said reference roll angle to said roll rate sensor signal comprises comparing said reference roll angle to said roll rate sensor signal through an observer that utilizes a kinematics relation and a dynamics relation.

13. A method as recited in claim 1, wherein comparing said reference roll angle to said roll rate sensor signal further comprises utilizing generating a dynamic bias estimate with a logic having said vehicle roll rate signal averaging to zero over a long period of time.

14. A method as recited in claim 1, wherein generating said roll rate sensor fault signal further comprises generating a lateral acceleration signal;

filtering said lateral acceleration signal;

generating a filtered lateral acceleration signal;

high pass filtering said roll rate sensor signal;

generating a filtered roll rate sensor signal; and

comparing said filtered lateral acceleration signal to said filtered roll rate sensor signal.

15. A method as recited in claim 1 further comprising shutting down a safety system in response to roll rate sensor fault or error.

16. A method as recited in claim 1 further comprising generating a substitute signal for said roll rate signal in response to roll rate sensor fault.

17. A method for detecting a roll rate sensor fault comprising:

generating a reference roll angle in an inertial frame with available signals other than roll rate;

generating a roll rate sensor signal;

compensating said roll rate sensor signal for all valid signal biases;

comparing said reference roll angle to said roll rate sensor signal through a kinematics relation and a dynamic interaction related by a vehicle suspension; and

generating a roll rate sensor fault signal comparing said reference roll angle to said roll rate sensor signal.

18. A method as recited in claim 17, wherein compensating for a valid signal bias further comprises halting roll rate sensor signal compensation in response to a fault flag or in response to a situation where compensation is unnecessary.

19. A method as recited in claim 17, wherein generating said roll rate sensor fault signal further comprises generating a lateral acceleration signal;

filtering said lateral acceleration signal;

generating a filtered lateral acceleration signal;

high pass filtering said roll rate sensor signal;

generating a filtered roll rate sensor signal; and

comparing said filtered lateral acceleration signal to said filtered roll rate sensor signal.

20. A method as recited in claim 17 further comprising refining said reference roll angle with a calculation of a dynamic relation between a vehicle lateral acceleration and a suspension roll motion.

21. A control system for an automotive vehicle having a vehicle body comprising:

a sensor cluster having a housing oriented within the vehicle body;

a roll rate sensor positioned within the housing adapted to generate a roll rate sensor signal corresponding to an roll angular motion of the sensor housing; and

a controller adapted to receive said roll rate sensor signal, said controller further adapted to generate a reference roll angle, and compare said reference roll angle to said roll rate sensor signal, said controller further adapted to generate a roll rate sensor fault signal in response to a fault determined in said roll rate sensor.

22. A system as recited in claim 21, wherein said controller is further adapted to compensate said roll rate sensor signal for all valid signal biases.

23. A system as recited in claim 21, wherein said controller is further adapted to refine said reference roll angle through steering wheel angle information.

24. A system as recited in claim 21, wherein said controller is further adapted to shut down a roll over detection system in response to said roll rate sensor fault signal.

25. A system as recited in claim 21, wherein said controller is further adapted to generate a substitute roll rate signal from sensor signals from at least one of a lateral accelerometer, a longitudinal accelerometer, a vertical accelerometer, a yaw rate sensor, a pitch rate sensor, a wheel speed sensor, a steering angle sensor (hand-wheel sensor), or a steering angle position sensor (road-wheel sensors).

26. A method for detecting a vehicle-dynamic sensor fault comprising:

generating a reference vehicle-dynamic sensor signal;

generating a vehicle-dynamic sensor signal; and

compensating for a valid signal bias in said vehicle-dynamic sensor signal by adjusting a mechanical long term sensor alignment angle with a minute adjustment at each sampling time during a vehicle operation.

27. The method of claim 26 further comprising comparing said reference vehicle-dynamic sensor signal to said vehicle-dynamic sensor signal.

28. The method of claim 27 further comprising generating a sensor fault signal.