METHOD, ARRANGEMENT AND SYSTEM FOR ESTIMATING VEHICLE CORNERING STIFFNESS
First Claim
1. A method for estimating one or more vehicle cornering stiffness parameters in a linear operating region of a vehicle, the method comprising:
- reading sensor data representative of at least a vehicle longitudinal velocity, a vehicle lateral acceleration, a vehicle yaw rate and a vehicle steering angle;
determining from the sensor data read if vehicle cornering stiffness parameters are observable; and
if so, generating a cornering stiffness parameter signal based on an estimate of the cornering stiffness parameters provided using a bicycle model that includes a model of tire relaxation dynamics.
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Abstract
A method, arrangement and system are described for estimating one or more vehicle cornering stiffness parameters (cf, cr) in a linear vehicle operating region. The method includes reading sensor data representative of at least vehicle (1) longitudinal velocity (vx), vehicle lateral acceleration (ay), vehicle yaw rate (ωz) and vehicle steering angle (δ), determining from the read sensor data if the cornering stiffness parameters (cf, cr) are observable, and if so providing an estimate of the cornering stiffness parameters (cf, cr) using a bicycle model that includes a model of tire relaxation dynamics.
16 Citations
11 Claims
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1. A method for estimating one or more vehicle cornering stiffness parameters in a linear operating region of a vehicle, the method comprising:
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reading sensor data representative of at least a vehicle longitudinal velocity, a vehicle lateral acceleration, a vehicle yaw rate and a vehicle steering angle; determining from the sensor data read if vehicle cornering stiffness parameters are observable; and if so, generating a cornering stiffness parameter signal based on an estimate of the cornering stiffness parameters provided using a bicycle model that includes a model of tire relaxation dynamics. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. An arrangement for estimating one or more vehicle cornering stiffness parameters in a linear operating region of a vehicle, the arrangement comprising:
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a vehicle longitudinal velocity sensor for providing a vehicle longitudinal velocity signal; a vehicle lateral acceleration sensor for providing a vehicle lateral acceleration signal; a vehicle yaw rate sensor for providing a yaw rate signal of the vehicle; a steering angle sensor for providing a steering angle signal of the vehicle; a cornering stiffness parameter observability determination unit arranged to determine from the sensor data read if vehicle cornering stiffness parameters are observable; and a cornering stiffness parameter estimation unit arranged to generate a cornering stiffness parameter signal using a bicycle model that includes a model of tire relaxation dynamics.
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11. A system for estimating one or more vehicle cornering stiffness parameters in a linear operating region of a vehicle, the system comprising an arrangement for estimating vehicle cornering stiffness parameters in a linear operating region of the vehicle, the arrangement configured to
read sensor data representative of at least a vehicle longitudinal velocity, a vehicle lateral acceleration, a vehicle yaw rate and a vehicle steering angle; -
determine from the sensor data read if vehicle cornering stiffness parameters are observable; and if so, generate a cornering stiffness parameter signal based on an estimate of the cornering stiffness parameters provided using a bicycle model that includes a model of tire relaxation dynamics.
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Specification