LATERAL AND LONGITUDINAL VELOCITY DETERMINATION FOR AN AUTOMOTIVE VEHICLE
First Claim
1. A system for controlling a safety system of an automotive vehicle comprising:
- a plurality of wheel speed sensors;
a longitudinal acceleration sensor generating a longitudinal acceleration signal;
a vehicle speed sensor generating a vehicle speed signal;
a lateral acceleration sensor generating a lateral acceleration signal;
a yaw rate signal generating a yaw rate signal; and
a controller coupled to the longitudinal acceleration sensor, the vehicle speed sensor, the lateral acceleration sensor and the yaw rate sensor, said controller determining a stability index, providing a first observer determining a reference longitudinal velocity in response to the longitudinal acceleration signal, the yaw rate signal, a pitch attitude and vehicle speed from wheel speed sensors and determining a reference lateral velocity in response to the lateral acceleration signal, the yaw rate signal, a roll attitude, a pitch attitude and vehicle speed from the wheel speed sensors, said controller providing a second observer determining a second longitudinal velocity in response to the longitudinal acceleration signal, the yaw rate signal, a lateral velocity, the pitch attitude and a first adjustment based on the longitudinal reference velocity, said controller determining a second lateral velocity in response to the lateral acceleration signal, the yaw rate signal, a roll attitude, a pitch attitude and a second adjustment based on the lateral reference velocity, said controller determining an output lateral velocity and an output longitudinal velocity in response to the first observer, second observer and the stability index, said controller controlling the safety system in response to the output lateral velocity and the output longitudinal velocity.
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Accused Products
Abstract
A system (18) for controlling a safety system (44) of an automotive vehicle (10) includes a longitudinal acceleration sensor (36), a vehicle speed sensor (20), a lateral acceleration sensor (32), a yaw rate sensor, and a controller (26). The controller (26) determines a stability index and provides a first observer that determines a reference longitudinal velocity in response to the longitudinal acceleration signal, the yaw rate signal, a pitch attitude and vehicle speed from wheel speed sensors. The controller (26) determines a reference lateral velocity in response to the lateral acceleration signal, the yaw rate signal, a roll attitude, a pitch attitude and vehicle speed from the wheel speed sensors. The controller provides a second observer that determines a second longitudinal velocity in response to the longitudinal acceleration signal, the yaw rate signal, a lateral velocity, the pitch attitude and a first adjustment based on the longitudinal reference velocity. The controller determines a second lateral velocity in response to the lateral acceleration signal, the yaw rate signal, a roll attitude, a pitch attitude and a second adjustment based on the lateral reference velocity. The controller determines an output lateral velocity and an output longitudinal velocity in response to the first observer, second observer and the stability index. The controller controls the safety system in response to the output lateral velocity and the output longitudinal velocity.
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Citations
22 Claims
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1. A system for controlling a safety system of an automotive vehicle comprising:
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a plurality of wheel speed sensors;
a longitudinal acceleration sensor generating a longitudinal acceleration signal;
a vehicle speed sensor generating a vehicle speed signal;
a lateral acceleration sensor generating a lateral acceleration signal;
a yaw rate signal generating a yaw rate signal; and
a controller coupled to the longitudinal acceleration sensor, the vehicle speed sensor, the lateral acceleration sensor and the yaw rate sensor, said controller determining a stability index, providing a first observer determining a reference longitudinal velocity in response to the longitudinal acceleration signal, the yaw rate signal, a pitch attitude and vehicle speed from wheel speed sensors and determining a reference lateral velocity in response to the lateral acceleration signal, the yaw rate signal, a roll attitude, a pitch attitude and vehicle speed from the wheel speed sensors, said controller providing a second observer determining a second longitudinal velocity in response to the longitudinal acceleration signal, the yaw rate signal, a lateral velocity, the pitch attitude and a first adjustment based on the longitudinal reference velocity, said controller determining a second lateral velocity in response to the lateral acceleration signal, the yaw rate signal, a roll attitude, a pitch attitude and a second adjustment based on the lateral reference velocity, said controller determining an output lateral velocity and an output longitudinal velocity in response to the first observer, second observer and the stability index, said controller controlling the safety system in response to the output lateral velocity and the output longitudinal velocity. - View Dependent Claims (2, 3)
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4. A method of controlling a system of a vehicle comprising:
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determining a stability index;
providing a first observer determining a reference longitudinal velocity in response to a longitudinal acceleration, yaw rate a pitch attitude and vehicle speed from wheel speed sensors and determining a reference lateral velocity in response to a lateral acceleration, yaw rate, a roll attitude, a pitch attitude and vehicle speed from wheel speed sensors;
providing a second observer determining a second longitudinal velocity in response to a longitudinal acceleration, yaw rate, a lateral velocity, a pitch attitude and a first adjustment based on the longitudinal reference velocity and determining a second lateral velocity in response to a lateral acceleration, yaw rate, the roll attitude, the pitch attitude and a second adjustment based on the lateral reference velocity;
determining an output lateral velocity and an output longitudinal velocity in response to the first observer, second observer and the stability index;
controlling a vehicle system in response to the output lateral velocity and the output longitudinal velocity. - View Dependent Claims (5, 6, 7, 8, 9, 10, 11, 12)
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13. A method of controlling a system of a vehicle comprising:
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Generating a plurality of vehicle speed signals and generating vehicle speed in response to the plurality of wheel speed signals;
generating a lateral acceleration signal;
generating a yaw rate signal;
generating a longitudinal acceleration signal;
determining a stability index in response to the yaw rate signal;
determining a reference longitudinal velocity in response to the longitudinal acceleration signal, the yaw rate signal, a pitch attitude and vehicle speed from the plurality of wheel speed sensors;
determining a second longitudinal velocity in response to the longitudinal acceleration signal, the yaw rate signal, a lateral velocity, a pitch attitude;
determining an output longitudinal velocity from either the reference longitudinal velocity, the second longitudinal velocity in response to the stability index; and
controlling a vehicle system in response to the output longitudinal velocity. - View Dependent Claims (14, 15, 16, 17)
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18. A method of controlling a system of a vehicle comprising:
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generating a plurality of vehicle speed signals and generating vehicle speed in response to the plurality of wheel speed signals;
generating a lateral acceleration signal;
generating a longitudinal acceleration signal;
generating a yaw rate signal;
determining a stability index in response to the yaw rate signal;
determining a reference lateral velocity in response to the lateral acceleration signal, the yaw rate signal, a roll attitude, a pitch attitude and the vehicle speed from the plurality of wheel speed sensors;
determining a second lateral velocity in response to the lateral acceleration signal, the yaw rate signal, the roll attitude, the pitch attitude and a second adjustment based on the lateral reference velocity;
determining an output lateral velocity from either the reference lateral velocity, the second lateral velocity in response to the stability index; and
controlling a vehicle system in response to the output lateral velocity. - View Dependent Claims (19, 20, 21, 22)
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Specification