Method for detecting a bank angle experienced by a moving vehicle
First Claim
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1. A method of detecting a bank angle for use in a yaw control system for a motor vehicle, said method comprising the steps of:
- providing a first signal corresponding to a lateral acceleration of the vehicle;
calculating a first bank angle estimate dependent on said first signal;
providing a second signal corresponding to a yaw rate of the vehicle;
calculating a second bank angle estimate dependent on said second signal;
calculating a third bank angle estimate dependent on both said first and second signals;
calculating a bank angle bias estimate based on said first, second and third bank angle estimates; and
calculating a final bank angle estimate as a function of said third bank angle estimate and said bank angle bias.
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Abstract
A method for detecting a bank angle experienced by a motor vehicle (10) is disclosed. Three estimates of the vehicle bank angle, γa, γω and γ.sub.ν are determined from separate data and are then used to determine an estimate of the bank angle BIAS. The bank angle BIAS is then combined with one of the three bank angle estimates to determine a final bank angle estimate, γfinal, to be used to modify the vehicle'"'"'s yaw control calculations in accordance therewith.
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18 Claims
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1. A method of detecting a bank angle for use in a yaw control system for a motor vehicle, said method comprising the steps of:
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providing a first signal corresponding to a lateral acceleration of the vehicle; calculating a first bank angle estimate dependent on said first signal; providing a second signal corresponding to a yaw rate of the vehicle; calculating a second bank angle estimate dependent on said second signal; calculating a third bank angle estimate dependent on both said first and second signals; calculating a bank angle bias estimate based on said first, second and third bank angle estimates; and calculating a final bank angle estimate as a function of said third bank angle estimate and said bank angle bias. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method of detecting a bank angle for use in a yaw control system for a motor vehicle, said method comprising the steps of:
- providing a first signal responsive to a sensed lateral acceleration of the vehicle;
calculating a first bank angle estimate dependent on said first signal; providing a second signal responsive to a sensed yaw rate of the vehicle; calculating a second bank angle estimate dependent on said second signal; calculating a third bank angle estimate dependent on said first and second signals; calculating a bank angle bias estimate based on said first, second and third bank angle estimates; and calculating a final bank angle estimate by as a function of said third bank angle estimate and said bank angle bias. - View Dependent Claims (9, 10, 11)
- providing a first signal responsive to a sensed lateral acceleration of the vehicle;
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12. A method of detecting a bank angle for use in a yaw control system for a motor vehicle, said method comprising the steps of:
- providing a first signal corresponding to a lateral acceleration of the vehicle;
providing a second signal corresponding to a yaw rate of the vehicle; providing a third signal responsive to a sensed steering wheel angle of the vehicle; calculating a first bank angle estimate dependent on said first signal and said third signal; calculating a second bank angle estimate dependent on said second signal and said third signal; calculating a third bank angle estimate dependent on both said first and second signals; calculating a bank angle bias estimate based on said first, second and third bank angle estimates; and calculating a final bank angle estimate as a function of said third bank angle estimate and said bank angle bias. - View Dependent Claims (13, 14, 15, 16, 17, 18)
- providing a first signal corresponding to a lateral acceleration of the vehicle;
Specification