Vehicle Stability Systems and Methods
First Claim
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1. A system, for determining an angular velocity of a moving vehicle, comprising:
- an array of accelerometers connected to the vehicle and configured to measure tangential accelerations and normal accelerations at points of the vehicle; and
a computing unit configured to receive acceleration measurements from the array of accelerometers, the computing unit comprising;
a processor; and
at least one software module comprising computer readable instructions that, when executed by the processor, cause the processor to determine the angular velocity of the vehicle by;
determining a centripetal acceleration as a function of normal acceleration measurements;
determining an angular acceleration as a function of tangential acceleration measurements;
determining a first predicted angular velocity as a function of a previously predicted angular velocity and the angular acceleration;
determining a correction factor as a function of the centripetal acceleration, a gain, and the previously predicted angular velocity; and
determining a corrected predicted angular velocity as a function of the first predicted angular velocity and the correction factor.
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Abstract
Systems and methods for determining angular velocity of a vehicle. Systems include an array of accelerometers and a computing unit configured to determine angular velocity as a function of acceleration measured by the array of accelerometers. Angular velocity can then be used, for example, by stability systems to control the vehicle.
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Citations
20 Claims
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1. A system, for determining an angular velocity of a moving vehicle, comprising:
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an array of accelerometers connected to the vehicle and configured to measure tangential accelerations and normal accelerations at points of the vehicle; and a computing unit configured to receive acceleration measurements from the array of accelerometers, the computing unit comprising; a processor; and at least one software module comprising computer readable instructions that, when executed by the processor, cause the processor to determine the angular velocity of the vehicle by; determining a centripetal acceleration as a function of normal acceleration measurements; determining an angular acceleration as a function of tangential acceleration measurements; determining a first predicted angular velocity as a function of a previously predicted angular velocity and the angular acceleration; determining a correction factor as a function of the centripetal acceleration, a gain, and the previously predicted angular velocity; and determining a corrected predicted angular velocity as a function of the first predicted angular velocity and the correction factor. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A non-transitory computer readable storage medium, comprising:
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acceleration measurements received from an array of accelerometers positioned on a vehicle; and at least one software module comprising computer readable instructions that, when executed by a processor, cause the processor to determine an angular velocity of the vehicle by; determining a centripetal acceleration as a function of normal acceleration measurements measured by the array; determining an angular acceleration as a function of tangential acceleration measurements measured by the array; determining a first predicted angular velocity as a function of a previously predicted angular velocity and the angular acceleration; determining a correction factor as a function of the centripetal acceleration, a gain, and a previously predicted angular velocity; and determining a corrected predicted angular velocity as a function of the first predicted angular velocity and the correction factor. - View Dependent Claims (14, 15, 16, 17, 18, 19)
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20. A method of determining angular velocity, comprising:
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measuring tangential accelerations and normal accelerations at points of a vehicle with an array of accelerometers connected to the vehicle; and using a computing unit; determining a centripetal acceleration as a function of normal acceleration measurements; determining an angular acceleration as a function of tangential acceleration measurements; determining a first predicted angular velocity as a function of a previously predicted angular velocity and the angular acceleration; determining a correction factor as a function of the centripetal acceleration, a gain, and the previously predicted angular velocity; and determining a corrected predicted angular velocity as a function of the first predicted angular velocity and the correction factor.
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Specification