Method for Combined Determining of a Momentary Roll Angle of a Motor Vehicle and a Momentary Roadway Cross Slope of a Curved Roadway Section Traveled by the Motor Vehicle

• US 20160001783A1
• Filed: 10/31/2013
• Published: 01/07/2016
• Est. Priority Date: 12/20/2012
• Status: Active Grant

• Current Assignee: Daimler AG (Mercedes-Benz Group AG)
• Original Assignee: Daimler AG (Mercedes-Benz Group AG)
• Inventors: AMMON, Dieter, HAINBUCH, Claus-Michael, RAU, Magnus
• Granted Patent: US 9,849,886 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60G 17/0162 mainly during a motion involving steering operation, e.g. cornering, overtaking B60G17/0164 takes precedence
• CPC Class Codes: B60G 2400/0511 Roll angle
• CPC Class Codes: B60G 2400/0523 Yaw rate
• CPC Class Codes: B60G 2400/104 lateral or transversal with regard to vehicle
• CPC Class Codes: B60G 2400/204 Vehicle speed
• CPC Class Codes: B60G 2400/52 in tyre
• CPC Class Codes: B60G 2400/60 Load
• CPC Class Codes: B60G 2800/70 Estimating or calculating vehicle parameters or state variables
• CPC Class Codes: B60G 2800/9123 Active Body Control [ABC]
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2520/18 Roll
• CPC Class Codes: B60W 40/06 Road conditions
• CPC Class Codes: B60W 40/112 Roll movement

Abstract

A method and device for the combined determining of a momentary vehicle roll angle of a motor vehicle and a momentary roadway cross slope of a curved roadway section traveled by the motor vehicle is disclosed. The momentary vehicle roll angle and momentary roadway cross slope are determined from chassis data and transverse dynamics data of the motor vehicle.

Claims

1-5. -5. (canceled)

6. A method for combined determining of a momentary vehicle roll angle of a motor vehicle and a momentary roadway cross slope of a curved roadway section traveled by the motor vehicle, comprising the steps of:

determining the momentary vehicle roll angle and the momentary roadway cross slope from chassis data and transverse dynamics data of the motor vehicle.

7. The method according to claim 6, wherein the chassis data comprises a momentary chassis roll angle of a chassis of the motor vehicle and/or a momentary tire roll angle of tires of the motor vehicle and wherein the transverse dynamics data comprises a momentary transverse acceleration of the motor vehicle.

8. The method according to claim 7:

wherein the step of determining the momentary vehicle roll angle includes a step (S1) of calculating the momentary vehicle roll angle (φ

_A) from the momentary transverse acceleration (a_y^Sensor), a momentary speed (v_x) of the motor vehicle, and a momentary yaw speed (d/dt ψ

) of the motor vehicle according to the following equation;

φ

_A=(1/g)(a_y^Sensor−

v_xd/dt ψ

), where g is gravitational acceleration;

and wherein the step of determining the momentary roadway cross slope includes calculating the momentary roadway cross slope (φ

_FB) from the momentary vehicle roll angle (φ

_A) calculated in step S1, the momentary chassis roll angle (w), and the momentary tire roll angle (φ

_R) according to the following equation;

φ

_FB=φ

_A−

w−

φ

_R.

9. A device for combined determining of a momentary vehicle roll angle of a motor vehicle and a momentary roadway cross slope of a curved roadway section traveled by the motor vehicle, comprising:

a control device, wherein the control device is connectable for communication to a transverse acceleration sensor, a yaw rate sensor, and a speed sensor of the motor vehicle for transmission of a respective measured momentary transverse acceleration, a momentary yaw speed, or a momentary speed of the motor vehicle to the control device;

wherein the control device determines the momentary vehicle roll angle of the motor vehicle and the momentary roadway cross slope of the curved roadway section traveled by the motor vehicle from chassis data and transverse dynamics data which comprises the momentary transverse acceleration or momentary speed of the motor vehicle.

10. A motor vehicle, comprising:

a device according to claim 9; and

a transverse acceleration sensor, a yaw rate sensor, and a speed sensor which are connected for communication to the control device to transmit a respective measured momentary transverse acceleration, a momentary yaw speed, or a momentary speed of the motor vehicle to the control device.