METHOD AND DEVICE FOR DETERMINING A CENTER OF GRAVITY OF A MOTOR VEHICLE

• US 20110224895A1
• Filed: 08/25/2009
• Published: 09/15/2011
• Est. Priority Date: 09/29/2008
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Kroeger, Patrick
• Granted Patent: US 8,825,286 B2
• Time in Patent Office: Days
• US Class Current: 701/124
• CPC Class Codes: B60G 17/0182 involving parameter estimation, e.g. observer, Kalman filter
• CPC Class Codes: B60G 2400/106 longitudinal with regard to vehicle, e.g. braking
• CPC Class Codes: B60G 2400/63 Location of the center of gravity
• CPC Class Codes: B60G 2600/1871 Optimal control; Kalman Filters
• CPC Class Codes: G01M 1/122 Determining position of centre of gravity

Abstract

A method and an apparatus for determining a center of gravity of a motor vehicle are described. In said method and apparatus, for at least one wheel of the motor vehicle, two different drive force values representing a drive force are determined. In addition, longitudinal acceleration values associated with the determined drive force values, and wheel slip values associated with the determined drive force values, are determined. As a function of the drive force values, the associated longitudinal acceleration values and the associated wheel slip values that are determined, coordinates of the center of gravity of the vehicle are determined.

Claims

1-9. -9. (canceled)

10. A method for determining a center of gravity of a motor vehicle, comprising:

determining two different drive force values, associated longitudinal acceleration values, and associated wheel slip values for at least one wheel of the motor vehicle, and

determining, from the drive force values, the associated longitudinal acceleration values, and the associated wheel slip values, at least two coordinates of the center of gravity of the motor vehicle.

11. The method as recited in claim 10, wherein the different drive force values are each determined at different points in time.

12. The method as recited in claim 11, wherein the different drive force values are determined continuously over time.

13. The method as recited in claim 11, wherein the coordinates of the center of gravity are determined using a recursive estimation algorithm.

14. The method as recited in claim 13, wherein the coordinates of the center of gravity are determined using a least squares method.

15. The method as recited in claim 13, wherein the coordinates of the center of gravity are determined using a Kalman filter.

16. The method as recited in claim 15, wherein the coordinates of the center of gravity are determined using a UKF.

17. The method as recited in claim 10, wherein the coordinates of the center of gravity are provided to at least one of safety algorithm and a control algorithm of the motor vehicle.

18. An apparatus for determining a center of gravity of a motor vehicle, the apparatus configured to determine two different drive force values, the associated longitudinal acceleration values, and associated wheel slip values, for at least one wheel of the motor vehicle, the apparatus further configured to determine from the drive force values, the associated longitudinal acceleration values, and the associated wheel slip values, at least two coordinates of the center of gravity of the motor vehicle.