Technique for determining motor vehicle slip angle while accounting for road banks
First Claim
1. A method for determining a slip angle of a motor vehicle while compensating for bank angle of the motor vehicle, comprising the steps of:
- determining a first lateral velocity of a motor vehicle, wherein the first lateral velocity is calculated without consideration of a bank angle and is derived from an integral of a first lateral velocity derivative;
determining a second lateral velocity of the motor vehicle, wherein the second lateral velocity is calculated with consideration of the bank angle and is derived from an integral of a second lateral velocity derivative;
determining a third lateral velocity of the motor vehicle, wherein the third lateral velocity is calculated with consideration of the bank angle and the first and second lateral velocities and is derived from an integral of a third lateral velocity derivative;
determining a longitudinal velocity of the motor vehicle; and
determining a slip angle of the motor vehicle, wherein the slip angle is based upon the third lateral velocity and the longitudinal velocity when a difference between the first lateral velocity and the second lateral velocity is greater than a lateral velocity threshold and the bank angle is greater than a bank angle threshold, and wherein the slip angle is based upon the first lateral velocity and the longitudinal velocity when a difference between the first lateral velocity and the second lateral velocity is less than the lateral velocity threshold or the bank angle is less than the bank angle threshold.
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Accused Products
Abstract
A technique for determining a slip angle of a motor vehicle, while compensating for bank angle of the motor vehicle, includes a number of steps. Initially, a first lateral velocity of a motor vehicle is determined, without consideration of a bank angle and is derived from an integral of a first lateral velocity derivative (vy dot). A second lateral velocity of the motor vehicle is also determined, with consideration of the bank angle and is derived from an integral of a second lateral velocity derivative. A third lateral velocity of the motor vehicle is also determined, with consideration of the bank angle and the first and second lateral velocities and is derived from an integral of a third lateral velocity derivative. A longitudinal velocity of the motor vehicle is also determined. A slip angle of the motor vehicle is then determined, based upon the third lateral velocity and the longitudinal velocity or the first lateral velocity and the longitudinal velocity.
29 Citations
20 Claims
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1. A method for determining a slip angle of a motor vehicle while compensating for bank angle of the motor vehicle, comprising the steps of:
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determining a first lateral velocity of a motor vehicle, wherein the first lateral velocity is calculated without consideration of a bank angle and is derived from an integral of a first lateral velocity derivative;
determining a second lateral velocity of the motor vehicle, wherein the second lateral velocity is calculated with consideration of the bank angle and is derived from an integral of a second lateral velocity derivative;
determining a third lateral velocity of the motor vehicle, wherein the third lateral velocity is calculated with consideration of the bank angle and the first and second lateral velocities and is derived from an integral of a third lateral velocity derivative;
determining a longitudinal velocity of the motor vehicle; and
determining a slip angle of the motor vehicle, wherein the slip angle is based upon the third lateral velocity and the longitudinal velocity when a difference between the first lateral velocity and the second lateral velocity is greater than a lateral velocity threshold and the bank angle is greater than a bank angle threshold, and wherein the slip angle is based upon the first lateral velocity and the longitudinal velocity when a difference between the first lateral velocity and the second lateral velocity is less than the lateral velocity threshold or the bank angle is less than the bank angle threshold. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. An automotive system for determining a slip angle of a motor vehicle while compensating for bank angle of the motor vehicle, comprising:
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a processor;
a steering angle sensor coupled to the processor;
a longitudinal speed sensor coupled to the processor;
a lateral acceleration sensor coupled to the processor;
a yaw rate sensor coupled to the processor; and
a memory subsystem coupled to the processor, wherein the memory subsystem stores code that when executed by the processor instructs the processor to perform the steps of;
determining a first lateral velocity of a motor vehicle, wherein the first lateral velocity is calculated without consideration of a bank angle and is derived from an integral of a first lateral velocity derivative;
determining a second lateral velocity of the motor vehicle, wherein the second lateral velocity is calculated with consideration of the bank angle and is derived from an integral of a second lateral velocity;
determining a third lateral velocity of the motor vehicle, wherein the third lateral velocity is calculated with consideration of the bank angle and the first and second lateral velocities and is derived from an integral of a third lateral velocity derivative;
determining a longitudinal velocity of the motor vehicle, wherein the longitudinal velocity is determined from information provided by the longitudinal speed sensor;
determining a slip angle of the motor vehicle, wherein the slip angle is based upon the third lateral velocity and the longitudinal velocity when a difference between the first lateral velocity and the second lateral velocity is greater than a lateral velocity threshold and the bank angle is greater than a bank angle threshold, and wherein the slip angle is based upon the first lateral velocity and the longitudinal velocity when a difference between the first lateral velocity and the second lateral velocity is less than the lateral velocity threshold or the bank angle is less than the bank angle threshold; and
controlling the motor vehicle based upon the slip angle. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A method for determining a slip angle of a motor vehicle while compensating for bank angle of the motor vehicle, comprising the steps of:
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determining a first lateral velocity of a motor vehicle, wherein the first lateral velocity is calculated without consideration of a bank angle and is derived from an integral of a first lateral velocity derivative;
determining a second lateral velocity of the motor vehicle, wherein the second lateral velocity is calculated with consideration of the bank angle and is derived from an integral of a second lateral velocity derivative;
determining a third lateral velocity of the motor vehicle, wherein the third lateral velocity is calculated with consideration of the bank angle and the first and second lateral velocities and is derived from an integral of a third lateral velocity derivative;
determining a longitudinal velocity of the motor vehicle; and
determining a slip angle of the motor vehicle, wherein the slip angle is based upon the third lateral velocity and the longitudinal velocity when a difference between the first lateral velocity and the second lateral velocity is greater than a lateral velocity threshold and the bank angle is greater than a bank angle threshold, and wherein the slip angle is based upon the first lateral velocity and the longitudinal velocity when a difference between the first lateral velocity and the second lateral velocity is less than the lateral velocity threshold or the bank angle is less than the bank angle threshold; and
controlling the motor vehicle based upon the slip angle. - View Dependent Claims (18, 19, 20)
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Specification