System and method for detecting roll rate sensor fault
First Claim
1. A method for detecting a roll stability control system sensor fault comprising:
- generating a compensated roll rate signal having a first threshold;
generating a lateral acceleration signal having a second threshold;
generating a reference velocity signal having a third threshold;
generating a yaw rate signal having a fourth threshold; and
generating a small roll rate shift flag in response to at least one of said first threshold, said second threshold, said third threshold, and said fourth threshold exceeded for greater than a predetermined time.
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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, the controller generates a residue signal in response to a sensor error or a measurement error. The controller sets a fault condition in response to the residue signal larger than a dynamic threshold and a magnitude of the roll rate signal above a fault condition threshold. The controller sets a fault flag in response to the fault condition indicated for a predetermined time during which no double wheel lift occurs.
29 Citations
32 Claims
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1. A method for detecting a roll stability control system sensor fault comprising:
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generating a compensated roll rate signal having a first threshold;
generating a lateral acceleration signal having a second threshold;
generating a reference velocity signal having a third threshold;
generating a yaw rate signal having a fourth threshold; and
generating a small roll rate shift flag in response to at least one of said first threshold, said second threshold, said third threshold, and said fourth threshold exceeded for greater than a predetermined time. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 17, 18)
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15. A method for detecting a roll stability control system sensor fault comprising:
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generating a roll rate fault signal as a function of a reference angle signal, a roll rate signal, and a yaw rate signal;
generating global variables as a function of said reference angle signal;
adding a virtual high frequency component of pitch estimation to one of said global variables;
generating a vehicle dynamic fault threshold as a function of said global variables;
generating a residue signal as a function of said reference angle signal and said roll rate signal;
adjusting said residue signal as a function of a sine of bank angle signal;
generating an adjusted residue signal;
generating a fault condition threshold from said adjusted residue signal as a function of said vehicle dynamic fault threshold;
setting a fault condition in response to said adjusted residue signal larger than a dynamic threshold and a magnitude of said roll rate signal above said fault condition threshold; and
setting a fault flag in response to said fault condition indicated for a predetermined time during which no double wheel lift occurs. - View Dependent Claims (16, 19, 20, 21, 22, 24, 25, 26, 27)
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23. A control system for an automotive vehicle having a vehicle body comprising:
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a sensor cluster having a housing oriented within the vehicle body;
a roll rate sensor positioned within the housing generating a roll rate sensor signal corresponding to a roll angular motion of said housing; and
a controller receiving said roll rate sensor signal, said controller generating a residue signal in response to a sensor error or a measurement error, said controller setting a fault condition in response to said residue signal larger than a dynamic threshold and a magnitude of said roll rate signal above a fault condition threshold, and said controller setting a fault flag in response to said fault condition indicated for a predetermined time during which no double wheel lift occurs.
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28. A method for detecting a roll rate sensor fault comprising:
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generating a reference velocity signal;
generating a lateral acceleration signal;
generating a compensated rollrate signal;
generating a yaw rate signal;
generating a dynamic factor; and
generating a small fault flag as a function of, in excess of a predetermined time, at least one of said reference velocity signal exceeding a reference velocity threshold, said lateral acceleration signal exceeding a lateral acceleration threshold, said compensated rollrate signal exceeding a compensated rollrate threshold, said yaw rate signal exceeding a yaw rate threshold, or said dynamic factor exceeding a dynamic threshold.
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29. A method for detecting a roll rate sensor fault comprising:
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generating a residue signal;
generating a global roll plausibility signal;
generating a dynamic factor signal;
generating a compensated rollrate signal;
generating a pitch signal;
generating a small fault flag;
generating a sticking signal fault flag; and
generating a dynamic factor threshold, a plausibility of fault signal, and a plausibility fault flag as a function of said residue signal, said global plausibility signal, said dynamic factor signal, said compensated rollrate signal, said pitch signal, said small fault flag, and said sticking fault flag. - View Dependent Claims (30, 31, 32)
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Specification