Method and device for estimating the height of the center of gravity of a vehicle
First Claim
1. A method for estimating the height of the center of gravity of a vehicle, which comprises the steps:
- Determining a lateral acceleration of the vehicle;
Detecting a predefined first driving situation at a first point in time as a function of a determined roll rate or of a determined roll angle of the vehicle;
Detecting a predefined second driving situation at a second point in time as a function of the determined roll rate or of the determined roll angle of the vehicle;
Determining a differential angle by means of which a vehicle body of the vehicle tilts during a period of time, with the period of time being delimited by the first and the second point in time;
Determining an angular speed of the tilting in a period of time;
Determining an angular acceleration of the tilting in a period of time; and
Estimating the height of a center of gravity of the vehicle based on an equation of motion as a function of the lateral acceleration, of the differential angle, of the angular speed and of the angular acceleration.
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Abstract
In a method for estimating the height of the center of gravity of a vehicle, a lateral acceleration is determined. Predefined first and second driving situation are detected at a first time as a function of a determined roll rate or of a determined roll angle and at a second time as a function of the roll rate or of the roll angle. In a time period delimited by the first and second times, a differential angle by which a vehicle body tilts during the time period is determined. Also determined are an angular speed: formula and an angular acceleration: formula of the vehicle tilting movement in the time period. A height of the center of gravity of the vehicle is estimated on the basis of an equation of motion as a function of the lateral acceleration, of the differential angle, of the angular speed: formula and of the angular acceleration: formula.
30 Citations
20 Claims
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1. A method for estimating the height of the center of gravity of a vehicle, which comprises the steps:
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Determining a lateral acceleration of the vehicle; Detecting a predefined first driving situation at a first point in time as a function of a determined roll rate or of a determined roll angle of the vehicle; Detecting a predefined second driving situation at a second point in time as a function of the determined roll rate or of the determined roll angle of the vehicle; Determining a differential angle by means of which a vehicle body of the vehicle tilts during a period of time, with the period of time being delimited by the first and the second point in time; Determining an angular speed of the tilting in a period of time; Determining an angular acceleration of the tilting in a period of time; and Estimating the height of a center of gravity of the vehicle based on an equation of motion as a function of the lateral acceleration, of the differential angle, of the angular speed and of the angular acceleration. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A device for estimating the height of the center of gravity of a vehicle comprising:
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a sensor operable to determine a lateral acceleration of the vehicle; a detector operable to detect a predefined first driving situation at a first point in time as a function of a determined roll rate or of a determined roll angle of the vehicle and to detect a predefined second driving situation at a second point in time as a function of the determined roll rate or of the a roll angle unit operable to determine a differential angle that tilts a vehicle body of the vehicle in a period of time, with the period of time being delimited by the first and the second point in time; a roll rate unit operable to determine an angular speed of the tilting in the period of time; a roll acceleration unit operable to determine an angular acceleration of the tilting in the period of time; and an estimation unit, which is embodied to estimate the height of the center of gravity of the vehicle on the basis of an equation of motion as a function of the lateral acceleration, of the differential angle, of the angular speed and of the angular acceleration. - View Dependent Claims (19, 20)
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Specification