Vehicle slip angle measuring method and a device therefor
First Claim
1. A vehicle slip angle measuring method, comprising steps of:
- (a) detecting, using at least one sensor of the vehicle, a steering state of front wheels of a vehicle;
(b) detecting, using at least one sensor of the vehicle, a motion state of the vehicle;
(c) deriving an approximate value of a vehicle slip angle at a centroid of the vehicle based on the front wheel steering state and the motion state, respectively detected in said steps (a) and (b);
(d) supplying the front wheel steering state and the motion state, respectively detected in said steps (a) and (b) and the approximate value derived in said step (c) to a learned neural network, to estimate a correction value corresponding to a deviation between the approximate value and an actual value of the vehicle slip angle at the centroid of the vehicle; and
(e) controlling the vehicle based upon a value derived by correcting the approximate value derived in said step (c), by using the correction value estimated in said step (d), as the vehicle slip angle at the centroid of the vehicle body.
3 Assignments
0 Petitions
Accused Products
Abstract
A vehicle slip angle measuring device includes an approximate calculation block for deriving an approximate value of a vehicle centroid slip angle by use of an approximate expression derived from a linear two-degree-of-freedom vehicle model. The approximate value is derived based on outputs from a steering wheel sensor, vehicle velocity sensor and yaw angular velocity sensor. The device further includes a preprocessing block for preprocessing outputs from the above three sensors, longitudinal acceleration sensor and lateral acceleration sensor to create input information. Finally, the device includes a learned neural network for receiving the approximate value and input information and for outputting a correction value corresponding to a deviation between an actual slip angle and the approximate value. The correction value from the neural network is added to the approximate value from the approximate calculation block to derive a precise vehicle centroid slip angle.
75 Citations
20 Claims
-
1. A vehicle slip angle measuring method, comprising steps of:
-
(a) detecting, using at least one sensor of the vehicle, a steering state of front wheels of a vehicle; (b) detecting, using at least one sensor of the vehicle, a motion state of the vehicle; (c) deriving an approximate value of a vehicle slip angle at a centroid of the vehicle based on the front wheel steering state and the motion state, respectively detected in said steps (a) and (b); (d) supplying the front wheel steering state and the motion state, respectively detected in said steps (a) and (b) and the approximate value derived in said step (c) to a learned neural network, to estimate a correction value corresponding to a deviation between the approximate value and an actual value of the vehicle slip angle at the centroid of the vehicle; and (e) controlling the vehicle based upon a value derived by correcting the approximate value derived in said step (c), by using the correction value estimated in said step (d), as the vehicle slip angle at the centroid of the vehicle body. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
-
-
11. A vehicle slip angle measuring device comprising:
-
first detection means for detecting a steering state of front wheels of a vehicle; second detection means for detecting a motion state of the vehicle; calculation means for deriving an approximate value of a vehicle slip angle at a centroid of a body of the vehicle based on the front wheel steering state and the motion state respectively detected by said first and second detection means; a learned neural network for estimating a correction value, corresponding to a deviation between the approximate value and an actual value of the vehicle slip angle at the centroid of the vehicle body, based on the front wheel steering state and the motion state respectively detected by said first and second detection means and the approximate value derived by said calculation means; and correction means for outputting a value derived by correcting the approximate value derived by said calculation means, by using the correction value estimated by said learned neural network, as the vehicle slip angle at the centroid of the vehicle body. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
-
Specification