Body state estimation of a vehicle

• US 20050216146A1
• Filed: 03/23/2004
• Published: 09/29/2005
• Est. Priority Date: 03/23/2004
• Status: Active Grant

• Current Assignee: Continental Automotive Systems, Inc. (Continental AG)
• Original Assignee: Continental Teves Incorporated (Continental AG)
• Inventors: Schumann, Clinton, Hildebrand, Brian L., Lehmann, Kurt Stouffer, Bauer, Geoffrey Burke
• Granted Patent: US 7,831,354 B2
• Time in Patent Office: Days
• US Class Current: 701/29
• CPC Class Codes: B60T 2250/03 Vehicle yaw rate
• 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

Abstract

The present invention features a system and method for estimating body states of a vehicle. The system includes at least two sensors mounted to the vehicle. The sensors generate measured vehicle state signals corresponding to the dynamics of the vehicle. A signal adjuster transforms the measured vehicle states from a sensor coordinate system to a body coordinate system associated with the vehicle. A filter receives the transformed measured vehicle states from the signal adjuster and processes the measured signals into state estimates of the vehicle, such as, for example, the lateral velocity, yaw rate, roll angle, and roll rate of the vehicle.

Claims

1. A system for estimating body states of a vehicle comprising:

at least two sensors mounted to the vehicle, the sensors generate measured vehicle state signals corresponding to dynamics of the vehicle;

a signal adjuster which transforms the measured vehicle states signals from a sensor coordinate system to a body coordinate system associated with the vehicle; and

a filter which receives the transformed measured signals from the signal adjuster and processes the measured signals into body state estimates of the vehicle.

2. The system of claim 1 wherein the filter includes a model of the vehicle dynamics and a model of the sensors, the state estimates being based on the transformed measured signals and the models of the vehicle dynamics and sensors.

4. The system of claim 1 wherein the sensors are linear accelerometers.

5. The system of claim 1 wherein one of the sensors is an angular rate sensor.

6. The system of claim 1 wherein the sensors include two accelerometers that measure accelerations in a first direction and two accelerometers that measure accelerations in a second direction.

7. The system of claim 6 wherein the sensors further include two accelerometers that measure accelerations in a third direction.

8. The system of claim 1 wherein the sensors include two accelerometers that measure lateral accelerations and one sensor measures the yaw rate of the vehicle.

9. The system of claim 8 wherein the sensors include two accelerometers that measure the vertical accelerations of the vehicle.

10. The system of claim 1 wherein the state estimates relate to the vehicle'"'"'s lateral velocity, yaw rate, roll angle, and roll rate.

11. The system of claim 1 wherein the signal adjuster further provides compensation for gravity biases associated with the sensors.

13. The method of claim 12 system of claim 1 wherein the processing includes modeling the vehicle dynamics and the sensors.

3. The system of claim 3 wherein the filter includes an estimator, an algorithm being implemented in the estimator to process the transformed measured signals and the models of the vehicle dynamics and sensors and generate the state estimates.

12. A method for estimating body states of a vehicle comprising:

generating measured vehicle state signals corresponding to dynamics of the vehicle with at least two sensors;

transforming the measured vehicle states signals from a sensor coordinate system to a body coordinate system associated with the vehicle; and

processing the measured signals into body state estimates of the vehicle.

14. The method of claim 12 wherein the generating includes measuring linear accelerations.

15. The method of claim 12 wherein the generating includes measuring an angular rate of the vehicle.

16. The method of claim 12 wherein the state estimates relate to the vehicle'"'"'s lateral velocity, yaw rate, roll angle, and roll rate.

17. The method of claim 12 wherein the transforming includes providing compensation for gravity biases associated with the sensors.