BANK ANGLE ESTIMATION VIA VEHICLE LATERAL VELOCITY WITH FORCE TABLES

• US 20100131141A1
• Filed: 11/21/2008
• Published: 05/27/2010
• Est. Priority Date: 11/21/2008
• Status: Abandoned Application

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations Incorporated (Motors Liquidation Co. GUC Trust)
• Inventors: Ryu, Jihan, Nardi, Flavio, Moshchuk, Nikolai K., O'dea, Kevin A.
• Application Number:
  US12/275,856
• Publication Number:
  US 20100131141A1
• Time in Patent Office: Days
• US Class Current: 701/29
• CPC Class Codes: B60T 2210/22 Banked curves
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence
• CPC Class Codes: B60T 8/17551 determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
• CPC Class Codes: B60W 40/06 Road conditions
• CPC Class Codes: B60W 40/072 Curvature of the road
• CPC Class Codes: B60W 40/076 Slope angle of the road
• CPC Class Codes: B60W 40/109 Lateral acceleration
• CPC Class Codes: B60W 40/112 Roll movement

Abstract

A method for road bank detection that has particular application in vehicle stability control systems and vehicle roll-over avoidance systems. The method for detection of a road bank includes obtaining a yaw rate value and a front and/or rear axle force value for a vehicle travelling on the road. It further includes comparing the obtained vehicle yaw rate value with a corresponding predetermined vehicle yaw rate value to obtain a vehicle yaw rate error value and comparing the obtained vehicle front and/or rear axle force value with a corresponding predetermined vehicle front and/or rear axle force value to obtain a vehicle front and/or rear axle force error value, and detecting the road bank based on the obtained vehicle yaw rate error value and the vehicle front and/or rear axle force error value.

Claims

1. A method for detecting a road bank, said method comprising:

obtaining a vehicle yaw rate value and a front and/or rear axle force value for a vehicle travelling on the road;

comparing the obtained vehicle yaw rate value with a predetermined vehicle yaw rate value to obtain a vehicle yaw rate error value and comparing the obtained vehicle front and/or rear axle force value with a predetermined vehicle front and/or rear axle force value to obtain a vehicle front and/or rear axle force error value; and

detecting the road bank based on the vehicle yaw rate error value and the vehicle front and/or rear axle force error value.

2. The method according to claim 1 wherein the vehicle yaw rate value is obtained using a yaw rate sensor.

3. The method according to claim 1 wherein the vehicle front and/or rear axle force value is obtained using an electronic stability control (ESC) system sensor.

4. The method according to claim 1 wherein the predetermined vehicle yaw rate value is estimated using a bicycle model.

5. The method according to claim 1 wherein the predetermined vehicle front and/or axle force value is obtained based on an arranged set of data, wherein the arranged set of data is a representation of a set of vehicle front and/or rear axle lateral force values corresponding to a set of vehicle slip angle values.

6. The method according to claim 5 wherein the arranged set of data is provided in a table.

7. The method according to claim 5 wherein the arranged set of data is provided by a graph.

8. A method for detecting of a road bank, said method comprising:

obtaining a rate of change of lateral velocity of a vehicle travelling on the road using an arranged set of data;

calculating a rate of change of lateral velocity of the vehicle using an electronic stability control (ESC) system sensor;

comparing the obtained rate of change of lateral velocity and the calculated rate of change of lateral velocity; and

detecting the banking of the road based on the comparison between the obtained rate of change of lateral velocity and the calculated rate of change of lateral velocity.

9. The method according to claim 8 wherein the arranged set of data is a representation of a set of vehicle front and/or rear axle lateral force values corresponding to a set of vehicle slip angle values.

10. The method according to claim 9 wherein the arranged set of data is provided in a table.

11. The method according to claim 9 wherein the arranged set of data is provided by a graph.

12. A method for detecting a road bank, and for compensating yaw rate and lateral velocity for facilitating stability control of a vehicle travelling on the road, said method comprising:

obtaining a yaw rate value and a front and/or rear axle force value for the vehicle;

comparing the vehicle yaw rate value with a predetermined vehicle yaw rate value to obtain a vehicle yaw rate error value and comparing the vehicle front axle force value with a predetermined vehicle front and/or rear axle force value to obtain a vehicle front axle force error value;

detecting the bank of the road based on the obtained vehicle yaw rate error value and the front and/or rear axle force error value;

calculating a banking angle of the road based on the obtained vehicle yaw rate error value and the vehicle front and/or rear axle force error value; and

compensating the vehicle yaw rate and the vehicle lateral velocity based on the banking angle of the road.

13. The method according to claim 12 wherein the vehicle yaw rate value is obtained using a yaw rate sensor.

14. The method according to claim 12 wherein the vehicle front axle force value is obtained using an electronic stability control (ESC) system sensor.

15. The method according to claim 12 wherein the predetermined vehicle yaw rate value is estimated using a bicycle model.

16. The method according to claim 12 wherein the predetermined set of vehicle front axle force value is obtained from an arranged set of data, the arranged set of data being a representation of a set of vehicle front and/or rear axle lateral force values corresponding to a set of vehicle slip angle values.

17. The method according to claim 16 wherein the arranged set of data is provided in a table.

18. The method according to claim 16 wherein the arranged set of data is provided by a graph.

19. The method according to claim 12 wherein the vehicle yaw rate and the vehicle lateral velocity are compensated by application of brakes on wheels of the vehicle.

20. The method according to claim 12 wherein the vehicle yaw rate and vehicle lateral velocity are compensated by reducing power of an engine of the vehicle.