METHOD OF ESTIMATING MASS OF VEHICLE
First Claim
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1. A method of estimating a mass of a vehicle, comprising:
- a first step of measuring a yaw rate of the vehicle, a speed of the vehicle, a steering angle of the vehicle, and a vertical acceleration of the vehicle;
a second step of comparing the measured yaw rate to a reference yaw rate, and if the measured yaw rate is smaller than the reference yaw rate, applying a straight direction model algorithm, thereby estimating a second step mass;
a third step of comparing the measured speed to a reference speed, and comparing the measured steering angle to a reference steering angle, and if the measured speed is larger than the reference speed and the measured steering angle is larger than the reference steering angle, applying a lateral direction model algorithm, thereby estimating a third step mass;
a fourth step of comparing the measured vertical acceleration with a reference vertical acceleration, and if the measured vertical acceleration is larger than the reference vertical acceleration, applying a vertical direction model algorithm, thereby estimating a fourth step mass;
a fifth step of, if the second step mass is constant for a fifth step amount of time, determining whether the second step mass is in a range between a minimum mass and a maximum mass;
a sixth step of, if the third step mass is constant for a sixth step amount of time, determining whether the third step mass is in the range between the minimum mass and the maximum mass;
a seventh step of, if the fourth step mass is constant for a seventh step amount of time, determining whether the fourth step mass is in the range between the minimum mass and the maximum mass;
an eighth step of, if each of the second, third, and fourth step masses is in the range, applying the second, third, and fourth step masses to a recursive least square method, thereby estimating the mass of the vehicle; and
a ninth step of inputting the mass of the vehicle to a control unit.
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Abstract
A method of estimating a mass of a vehicle. If a yaw rate is smaller than a reference value, a straight direction model algorithm is applied. If a measured speed and a measured steering angle are larger than reference values, a lateral direction model algorithm is applied. If a measured vertical acceleration is larger than a reference value, a vertical direction model algorithm is applied. If each of the estimated masses is in an allowable range, and is constant for a given time period, the masses are applied to a recursive least square method, thereby estimating the mass of the vehicle.
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Citations
5 Claims
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1. A method of estimating a mass of a vehicle, comprising:
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a first step of measuring a yaw rate of the vehicle, a speed of the vehicle, a steering angle of the vehicle, and a vertical acceleration of the vehicle; a second step of comparing the measured yaw rate to a reference yaw rate, and if the measured yaw rate is smaller than the reference yaw rate, applying a straight direction model algorithm, thereby estimating a second step mass; a third step of comparing the measured speed to a reference speed, and comparing the measured steering angle to a reference steering angle, and if the measured speed is larger than the reference speed and the measured steering angle is larger than the reference steering angle, applying a lateral direction model algorithm, thereby estimating a third step mass; a fourth step of comparing the measured vertical acceleration with a reference vertical acceleration, and if the measured vertical acceleration is larger than the reference vertical acceleration, applying a vertical direction model algorithm, thereby estimating a fourth step mass; a fifth step of, if the second step mass is constant for a fifth step amount of time, determining whether the second step mass is in a range between a minimum mass and a maximum mass; a sixth step of, if the third step mass is constant for a sixth step amount of time, determining whether the third step mass is in the range between the minimum mass and the maximum mass; a seventh step of, if the fourth step mass is constant for a seventh step amount of time, determining whether the fourth step mass is in the range between the minimum mass and the maximum mass; an eighth step of, if each of the second, third, and fourth step masses is in the range, applying the second, third, and fourth step masses to a recursive least square method, thereby estimating the mass of the vehicle; and a ninth step of inputting the mass of the vehicle to a control unit. - View Dependent Claims (2, 3, 4, 5)
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Specification