Method and apparatus for correcting vehicle chassis sensor signals and for controlling a vehicle chassis
First Claim
1. A method of controlling a chassis of a vehicle, said vehicle including a chassis, a body, and a plurality of wheels, said method comprising the steps of:
- sensing a plurality of first signals representing movements of the vehicle relative to an inertial reference system;
determining correction values for correcting said first signals, said correction values being dependent on a plurality of second signals which represent one of relative movements between a said body and a said plurality of wheels, longitudinal movements of a said vehicle, and transverse movements of a said vehicle;
providing corrected first signals dependent on said correction values;
determining movements of the vehicle relative to a road surface-fixed reference system dependent on said corrected first signals; and
controlling the chassis dependent on said determined movements.
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Accused Products
Abstract
The invention provides first signals (wz, aL, aQ, aV1, aV2, aV3) representing the vehicle movements relative to an inertial reference system (KI) for use in a chassis regulation and/or control system in a vehicle. Based on the first signals, correction values (betaS, betaS '"'"', betaS ", alphaS, alphaS ", psiS '"'"', psiS ") for correction of the first signals are determined in such a way that vehicle movements relative to a road surface-fixed reference system (KS) are inferred from corrected first signals (Scor i). The invention has the advantage that the inertial sensor signals disturbed by road surface inclinations are projected into the road surface plane, obtaining signals which represent the vehicle movement relative to the road surface.
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7 Claims
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1. A method of controlling a chassis of a vehicle, said vehicle including a chassis, a body, and a plurality of wheels, said method comprising the steps of:
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sensing a plurality of first signals representing movements of the vehicle relative to an inertial reference system; determining correction values for correcting said first signals, said correction values being dependent on a plurality of second signals which represent one of relative movements between a said body and a said plurality of wheels, longitudinal movements of a said vehicle, and transverse movements of a said vehicle; providing corrected first signals dependent on said correction values; determining movements of the vehicle relative to a road surface-fixed reference system dependent on said corrected first signals; and controlling the chassis dependent on said determined movements. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A system for controlling a chassis of a vehicle, said vehicle including a chassis, a body, and a plurality of wheels, said system comprising:
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a plurality of sensors providing first signals representing movements of the vehicle relative to an inertial reference system; means for correcting said first signals dependent on at least one correction value, said at least one correction value being dependent on a plurality of second signals which represent one of relative movements between a said body and a said plurality of wheels, longitudinal movements of a said vehicle, and transverse movements of a said vehicle; and means for determining movements of a said vehicle relative to a road surface-fixed reference system dependent on said corrected first signals; and means for controlling said chassis, dependent on said determined movements.
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Specification