Method and apparatus for dynamically determining a lateral velocity of a motor vehicle
First Claim
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1. A system for dynamically estimating a lateral velocity of a motor vehicle for input to a controller employed to control dynamics of the motor vehicle, said system comprising:
- vehicle speed measuring means for producing a vehicle speed signal corresponding to a longitudinal velocity of said motor vehicle;
yaw rate measuring means for producing a yaw rate signal corresponding to a yaw rate of said motor vehicle;
lateral acceleration measuring means for producing a lateral acceleration signal corresponding to a lateral acceleration of said motor vehicle;
tire lateral force estimating means comprising means for producing a tire lateral force signal for each tire;
correction means comprising means for producing a corrector signal from said lateral acceleration signal and said tire lateral force signal; and
processor means for integrating a predetermined combination of said vehicle speed signal, said yaw rate signal, said correction signal and said tire lateral force signal for each tire and generating a lateral velocity signal therefrom.
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Abstract
A system and a method for dynamically estimating a lateral velocity of a motor vehicle for input to a controller employed to control dynamics of the motor vehicle includes sensors for measuring predetermined vehicle operating state. The system also includes sensors for dynamically measuring steering angle, vehicle speed, yaw rate and lateral acceleration. These signals are combined and numerically integrated in accordance with assymptotic observer theory to obtain a reliable estimate of the lateral vehicle velocity.
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Citations
14 Claims
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1. A system for dynamically estimating a lateral velocity of a motor vehicle for input to a controller employed to control dynamics of the motor vehicle, said system comprising:
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vehicle speed measuring means for producing a vehicle speed signal corresponding to a longitudinal velocity of said motor vehicle; yaw rate measuring means for producing a yaw rate signal corresponding to a yaw rate of said motor vehicle; lateral acceleration measuring means for producing a lateral acceleration signal corresponding to a lateral acceleration of said motor vehicle; tire lateral force estimating means comprising means for producing a tire lateral force signal for each tire; correction means comprising means for producing a corrector signal from said lateral acceleration signal and said tire lateral force signal; and processor means for integrating a predetermined combination of said vehicle speed signal, said yaw rate signal, said correction signal and said tire lateral force signal for each tire and generating a lateral velocity signal therefrom. - View Dependent Claims (2, 3, 4, 5)
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6. A system for dynamically estimating a lateral velocity of a motor vehicle for input to a controller employed to control dynamics of the motor vehicle, said system comprising:
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vehicle speed measuring means for producing a vehicle speed signal corresponding to a longitudinal velocity of said motor vehicle; yaw rate measuring means for producing a yaw rate signal corresponding to a yaw rate of said motor vehicle; lateral acceleration measuring means for producing a lateral acceleration signal corresponding to a lateral acceleration of said motor vehicle; tire lateral force estimating means comprising means for producing a tire lateral force signal for each tire; correction means comprising means for producing a corrector signal from said lateral acceleration signal and said tire lateral force signal; and processor means for determining an estimate of the lateral velocity of said motor vehicle by numerically integrating the following relationship;
##EQU11## where;
V=time derivative of the lateral velocity estimate;U=longitudinal velocity of the motor vehicle; r=yaw rate of motor vehicle; Ftires =Sum of the lateral forces acting on the tires; Corrobs =the correction component represented by said corrector signal; and
##EQU12## - View Dependent Claims (7, 8, 9)
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10. A method for dynamically estimating lateral velocity of a motor vehicle for input to a controller employed to control dynamics of the motor vehicle, said system comprising the steps of:
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measuring a yaw rate of the motor vehicle and producing a yaw rate signal; measuring a vehicle longitudinal velocity speed and producing a vehicle speed signal; measuring a measured lateral acceleration and producing a lateral acceleration signal corresponding thereto; estimating a predicted tire lateral force and producing a tire lateral force signal for each tire; producing a corrector signal from said lateral acceleration and said tire lateral force signals; and integrating a predetermined combination of said vehicle speed signal, said yaw rate signal, said correction signal and said tire lateral force signals and generating a lateral velocity signal therefrom. - View Dependent Claims (11, 12, 13, 14)
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Specification