Method of obtaining the yawing velocity and/or transverse velocity of a vehicle
First Claim
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1. In a method of controlling a motor driven wheeled vehicle having front and rear axles and including the steps of obtaining values for at least one of the yawing velocity ω
- and the transverse velocity vy of the vehicle, and using the obtained values for at least one of the yawing velocity ω and
the transverse velocity vy to control a driving dynamic of the vehicle;
the improvement wherein said step of obtaining comprises;
measuring and providing signals corresponding to the transverse acceleration ay, the front wheel drive angle δ
v, and any rear-wheel drive angle δ
h of the vehicle;
forming a data vector
space="preserve" listing-type="equation">m.sup.r (k-1)-[a.sub.y (k-2)a.sub.y (k-3)|δ
.sub.v (k-1)δ
.sub.v (k-2)δ
.sub.v (k-3)|δ
.sub.h (k-1)δ
.sub.h (k-2)δ
.sub.h (k-3)].sup.rfrom the three measured values ay, δ
v and δ
h, with k, (k-1), (k-2), and (k-3) representing times of measurements;
multiplying the data vector mr (k-1) with the estimated value of a parameter vector p(k-1) to determine an estimated value for the transverse acceleration ay (k);
recursively calculating the estimated value of a parameter vector p(k) using an estimation algorithm from the previously determined estimated value p(k-1) and an error value e(k)=ay (k)-ay (k);
multiplying the matrix M*(k-1) of the data vector mr (k-1) with the matrix p* (k) of the parameter vector p(k) to determine a state vector x(k)=[ω
(k) vy (k)]; and
,determining at least one of the yawing velocity ω
(k) and the transverse velocity vy (k) of the vehicle from the state vector.
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Abstract
A method for obtaining the yawing velocity ω and the transverse velocity vy of a vehicle so that these values can be employed, for example, in regulating the vehicle system, with the values being determined with the aid of simple sensors. Measured values are obtained for the transverse acceleration ay and the steering angles δ of the two axles, and the yawing velocity ω and the vehicle'"'"'s transverse velocity vy are estimated therefrom in a state estimator.
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Citations
9 Claims
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1. In a method of controlling a motor driven wheeled vehicle having front and rear axles and including the steps of obtaining values for at least one of the yawing velocity ω
- and the transverse velocity vy of the vehicle, and using the obtained values for at least one of the yawing velocity ω and
the transverse velocity vy to control a driving dynamic of the vehicle;
the improvement wherein said step of obtaining comprises;measuring and providing signals corresponding to the transverse acceleration ay, the front wheel drive angle δ
v, and any rear-wheel drive angle δ
h of the vehicle;forming a data vector
space="preserve" listing-type="equation">m.sup.r (k-1)-[a.sub.y (k-2)a.sub.y (k-3)|δ
.sub.v (k-1)δ
.sub.v (k-2)δ
.sub.v (k-3)|δ
.sub.h (k-1)δ
.sub.h (k-2)δ
.sub.h (k-3)].sup.rfrom the three measured values ay, δ
v and δ
h, with k, (k-1), (k-2), and (k-3) representing times of measurements;multiplying the data vector mr (k-1) with the estimated value of a parameter vector p(k-1) to determine an estimated value for the transverse acceleration ay (k); recursively calculating the estimated value of a parameter vector p(k) using an estimation algorithm from the previously determined estimated value p(k-1) and an error value e(k)=ay (k)-ay (k); multiplying the matrix M*(k-1) of the data vector mr (k-1) with the matrix p* (k) of the parameter vector p(k) to determine a state vector x(k)=[ω
(k) vy (k)]; and
,determining at least one of the yawing velocity ω
(k) and the transverse velocity vy (k) of the vehicle from the state vector. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
- and the transverse velocity vy of the vehicle, and using the obtained values for at least one of the yawing velocity ω and
Specification