Determining the direction of travel of an automotive vehicle from yaw rate and relative steering wheel angle

• US 6,141,605 A
• Filed: 06/25/1999
• Issued: 10/31/2000
• Est. Priority Date: 06/25/1999
• Status: Expired due to Term

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Joyce, John Patrick
• Primary Examiner(s): Chin, Gary
• Application Number:
  US09/344,385
• Time in Patent Office: 494 Days
• Field of Search: 701/1, 701/41, 701/42, 701/70, 701/72, 180/400, 180/412, 180/413, 180/421, 180/422, 180/443
• US Class Current: 701/1
• CPC Class Codes: B60T 2210/22 Banked curves
• CPC Class Codes: B60T 2230/08 Driving in reverse
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 30/18036 Reversing

Abstract

A method of using relative steering wheel angle of an automotive vehicle, vehicle yaw rate, and vehicle speed to determine whether the vehicle is traveling forward or backward. Forward and backward steering wheel angles are calculated from vehicle speed and yaw rate (22). A difference between relative steering wheel angle and forward steering wheel angle (10), and a difference between relative steering wheel angle and backward steering wheel angle (12) are calculated. The difference between relative steering wheel angle and forward steering wheel angle is filtered (14), and a difference between the filtered and the unfiltered difference between relative steering wheel angle and forward steering wheel angle is calculated to obtain a forward net difference (18). The difference between relative steering wheel angle and backward steering wheel angle is filtered (16), and a difference between the filtered and the unfiltered difference between relative steering wheel angle and backward steering wheel angle is calculated to obtain a backward net difference (20). While repeatedly performing the foregoing steps, forward net difference values derived from the forward net differences are accumulated (24), and backward net difference values derived from the backward net differences are accumulated (26). The travel direction is determined by comparing the accumulation of forward net difference values and the accumulation of backward net difference values (28). Absolute steering wheel angle and road bank angle can also be calculated.

Claims

1. A method of using relative steering wheel angle of an automotive vehicle, yaw rate of the vehicle, and speed of the vehicle to determine whether the vehicle is traveling in a forward direction or a backward direction, the method comprising the steps of:

measuring relative steering wheel angle;

measuring yaw rate;

measuring vehicle speed;

calculating a forward steering wheel angle from the vehicle speed and the yaw rate;

calculating a backward steering wheel angle from the vehicle speed and the yaw rate;

calculating a difference between the relative steering wheel angle and the forward steering wheel angle;

calculating a difference between the relative steering wheel angle and the backward steering wheel angle;

filtering the difference between the relative steering wheel angle and the forward steering wheel angle;

calculating a difference between the filtered and the unfiltered difference between the relative steering wheel angle and the forward steering wheel angle to obtain a forward net difference;

filtering the difference between the relative steering wheel angle and the backward steering wheel angle;

calculating a difference between the filtered and the unfiltered difference between the relative steering wheel angle and the backward steering wheel angle to obtain a backward net difference;

while repeatedly performing the foregoing steps, accumulating the forward net difference values derived from the forward net differences, and accumulating the backward net difference values derived from the backward net differences; and

determining travel direction by comparing the accumulation of the forward net difference values and the accumulation of the backward net difference values.

2. A method as set forth in claim 1 in which the determining step comprises determining a backward travel direction when the accumulation of the forward net difference values exceeds the accumulation of the backward net difference values by a predetermined value.

3. A method as set forth in claim 1 in which the determining step comprises determining a forward travel direction when the accumulation of the backward net difference values exceeds the accumulation of the forward net difference values by a predetermined value.

4. A method as set forth in claim 1 in which the step of accumulating the forward net difference values comprises accumulating a forward net difference value for a respective forward net difference only if the forward net difference exceeds a predetermined forward net difference, and the step of accumulating the backward net difference values comprises accumulating a backward net difference value for a respective backward net difference only if the backward net difference exceeds a predetermined backward net difference.

5. A method as set forth in claim 4 in which the step of accumulating the forward net difference values comprises accumulating each forward net difference value as a value equal to difference between the respective forward net difference and the predetermined forward net difference, and the step of accumulating the backward net difference values comprises accumulating each backward net difference value as a value equal to difference between the respective backward net difference and the predetermined backward net difference.

6. A method as set forth in claim 1 including the steps of limiting further accumulation of the forward net difference values when their accumulation exceeds a predetermined forward limit, and of limiting further accumulation of the backward net difference values when their accumulation exceeds a predetermined backward limit.

7. A method as set forth in claim 1 including the steps of interrupting further accumulation of the forward net difference values and of interrupting further accumulation of the backward net difference values during certain vehicle operating conditions where actual relationships between the yaw rate, the vehicle speed, and the steering wheel angle deviate from certain predefined relationships.

8. A method as set forth in claim 1 including the steps of calculating a ratio of the accumulation of one of the net difference values to the accumulation of the other of the net difference values, and of allowing the determining step to be performed only when the ratio meets a predefined threshold.

9. A method of using relative steering wheel angle of an automotive vehicle, yaw rate of the vehicle, and speed of the vehicle to determine whether the vehicle is traveling in a forward direction or a backward direction, the method comprising the steps of;

measuring yaw rate;

measuring vehicle speed;

calculating one of a forward and a backward steering wheel angle from the vehicle speed and the yaw rate;

calculating a difference between the relative steering wheel angle and the calculated one of the forward and the backward steering wheel angle;

filtering the calculated difference;

determining that the vehicle is traveling in the one of the forward and the backward directions based on the relative steering wheel angle, the yaw rate and the vehicle speed; and

calculating an absolute steering wheel angle by adding the filtered difference to the relative steering wheel angle.

10. A method as set forth in claim 9 in which the determining step comprises processing the relative steering wheel angle, the yaw rate, and the vehicle speed according to an algorithm to yield a determination of the travel direction of the vehicle.

11. A method as set forth in claim 9 including calculating a road bank angle for a surface on which the vehicle is traveling comprising the steps of:

processing the absolute steering wheel angle through a relatively higher pass filter to obtain a filtered absolute steering wheel angle, and processing the absolute steering wheel angle signal through a relatively lower pass filter to obtain a long term absolute steering wheel angle;

calculating a difference between the filtered absolute steering wheel angle and the long term steering wheel angle; and

calculating the road bank angle by processing the difference between the filtered absolute steering wheel angle and the long term steering wheel angle with the vehicle speed, the yaw rate, and one or more physical parameters of the vehicle.