Online estimation of vehicle side-slip under linear operating region
First Claim
1. A system for estimating vehicle side-slip of a vehicle, said system comprising:
- a vehicle speed sensor for providing a vehicle speed signal of the speed of the vehicle;
a vehicle yaw rate sensor for providing a yaw rate signal of the yaw rate of the vehicle;
a vehicle lateral acceleration sensor for providing a vehicle lateral acceleration of the vehicle;
a hand-wheel angle sensor for providing a hand-wheel angle signal;
a first state observer processor responsive to the vehicle speed signal and the hand-wheel angle signal, said first state observer processor generating yaw acceleration and lateral acceleration signals;
a subtractor responsive to the yaw acceleration and lateral acceleration signals, said subtractor generating yaw acceleration and lateral acceleration error signals;
a parameter estimation processor responsive to the yaw acceleration and lateral acceleration error signals, said parameter estimation processor generating an updated front cornering stiffness signal and rear cornering stiffness signal, said first state observer processor being responsive to the updated front and rear cornering stiffness signals; and
a second state observer processor responsive to the updated front cornering stiffness signal and the rear cornering stiffness signal, said second state observer processor calculating an estimated vehicle side-slip signal.
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Abstract
A system for estimating vehicle side-slip in the linear vehicle operating region that includes updating front and rear cornering stiffness signals. The system includes a first state observer processor that employs a bicycle model with state feedback for generating yaw acceleration and lateral acceleration signals. The system further includes a subtractor that receives the yaw acceleration and lateral acceleration signals and measured yaw rate and lateral acceleration signals, and generates yaw acceleration and lateral acceleration error signals. A parameter estimation processor calculates an updated front cornering stiffness and rear cornering stiffness signals. The updated front and rear cornering stiffness signals are sent back to the first state observer processor, and are used by second state observer processor for generating the estimated vehicle side-slip.
47 Citations
21 Claims
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1. A system for estimating vehicle side-slip of a vehicle, said system comprising:
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a vehicle speed sensor for providing a vehicle speed signal of the speed of the vehicle;
a vehicle yaw rate sensor for providing a yaw rate signal of the yaw rate of the vehicle;
a vehicle lateral acceleration sensor for providing a vehicle lateral acceleration of the vehicle;
a hand-wheel angle sensor for providing a hand-wheel angle signal;
a first state observer processor responsive to the vehicle speed signal and the hand-wheel angle signal, said first state observer processor generating yaw acceleration and lateral acceleration signals;
a subtractor responsive to the yaw acceleration and lateral acceleration signals, said subtractor generating yaw acceleration and lateral acceleration error signals;
a parameter estimation processor responsive to the yaw acceleration and lateral acceleration error signals, said parameter estimation processor generating an updated front cornering stiffness signal and rear cornering stiffness signal, said first state observer processor being responsive to the updated front and rear cornering stiffness signals; and
a second state observer processor responsive to the updated front cornering stiffness signal and the rear cornering stiffness signal, said second state observer processor calculating an estimated vehicle side-slip signal. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A system for estimating vehicle side-slip of a vehicle, said system comprising:
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a first state observer processor responsive to vehicle state signals, said first state observer processor using the state signals for generating yaw acceleration and lateral acceleration signals;
a subtractor responsive to the yaw acceleration and lateral acceleration signals and the vehicle state signals, said subtractor generating yaw acceleration and lateral acceleration error signals; and
a parameter estimation processor responsive to the yaw acceleration and lateral acceleration error signals, said parameter estimation processor generating updated front cornering stiffness and rear cornering stiffness signals. - View Dependent Claims (9, 10, 11, 12, 13, 14, 15)
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16. A method for estimating vehicle side-slip of a vehicle, said method comprising:
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calculating yaw acceleration and lateral acceleration signals using vehicle states;
subtracting the yaw acceleration and lateral acceleration signals from an estimated yaw acceleration from a measured yaw acceleration and lateral acceleration signal to generate yaw acceleration and lateral acceleration error signals;
calculating an updated front cornering stiffness signal and rear cornering stiffness signal from the yaw acceleration and lateral acceleration error signals; and
calculating an estimated vehicle side-slip signal from the updated front and rear cornering stiffness signals. - View Dependent Claims (17, 18, 19, 20, 21)
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Specification