Enhanced yaw rate estimation and diagnosis for vehicular applications
First Claim
1. A method for estimating the yaw rate of a vehicle, comprising:
- receiving at least one signal indicative of a vehicular lateral acceleration;
receiving at least one signal indicative of a vehicular velocity;
providing a plurality of yaw rate estimators;
selecting a first yaw rate estimator from said plurality of yaw rate estimators in response to at least one of said received signals;
estimating a first yaw rate in accordance with the selected said first yaw rate estimator and a corresponding at least one of said received signals;
measunng a yaw rate with a yaw rate sensor;
comparing said measured yaw rate with said first estimated yaw rate;
detecting an inaccurate measured yaw rate in accordance with the comparison when the comparison is not within a selected threshold value; and
selecting a second yaw rate estimator from said plurality of yaw rate estimators upon said detection of said inaccurate yaw rate.
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Accused Products
Abstract
A method for estimating the yaw rate of a vehicle. The method includes receiving at least one signal indicative of a vehicular lateral acceleration and receiving at least one signal indicative of a vehicular wheel velocity. A plurality of yaw rate estimation functions are provided. A first yaw rate estimation function of the plurality of yaw rate estimation functions is selected in response to at least one of the received signals. A first estimated yaw rate is estimated in accordance with the selected first yaw rate estimation function and at least two signals each indicative of a wheel velocity. If the first estimated yaw rate is not within a threshold value of an actual measured yaw rate, a second yaw rate estimation function is selected to obtain a second estimated yaw rate using a signal indicative of lateral acceleration for correlation with the actual measured yaw rate.
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Citations
16 Claims
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1. A method for estimating the yaw rate of a vehicle, comprising:
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receiving at least one signal indicative of a vehicular lateral acceleration;
receiving at least one signal indicative of a vehicular velocity;
providing a plurality of yaw rate estimators;
selecting a first yaw rate estimator from said plurality of yaw rate estimators in response to at least one of said received signals;
estimating a first yaw rate in accordance with the selected said first yaw rate estimator and a corresponding at least one of said received signals;
measunng a yaw rate with a yaw rate sensor;
comparing said measured yaw rate with said first estimated yaw rate;
detecting an inaccurate measured yaw rate in accordance with the comparison when the comparison is not within a selected threshold value; and
selecting a second yaw rate estimator from said plurality of yaw rate estimators upon said detection of said inaccurate yaw rate. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
estimating a second yaw rate in accordance with said selecting said second yaw rate estimator and another signal of said received signals.
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3. The method as defined in claim 2, further comprising:
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comparing said measured yaw rate with said second yaw rate; and
detecting an inaccurate measured yaw rate in accordance with the comparison when the comparison is not within said selected threshold value.
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4. The method as defined in claim 3, further comprising:
generating a yaw rate sensor fault signal indicative of a failed yaw rate sensor.
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5. The method as defined in claim 2, wherein said at least one signal indicative of said vehicular velocity includes a lateral acceleration signal and said second yaw rate estimator estimates said second yaw rate using said lateral acceleration signal and a signal indicative of effective vehicle velocity.
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6. The method as defined in claim 5, wherein said signal indicative of effective vehicle velocity is generated from a vehicle transmission.
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7. The method as defined in claim 2, wherein said at least one signal indicative of said vehicular velocity includes a wheel velocity signal and said first yaw rate estimator estimates said first yaw rate using at least two wheel velocities and a track width therebetween.
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8. The method as defined in claim 7, wherein said first yaw rate estimator is selected when an effective vehicular velocity is less than about 5 kph.
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9. The method as defined in claim 1, wherein said first yaw rate estimator is a wheel velocity based function configured to estimate yaw rate of the vehicle.
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10. The method as defined in claim 9, wherein said wheel velocity based function is set as a default for estimation of yaw rate.
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11. A method for estimating the yaw rate of a vehicle, comprising:
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providing a plurality of signals indicative of one of a wheel speed and a lateral acceleration of the vehicle;
estimating a first yaw rate using at least two wheel speed signals from opposing wheels and associated track width therebetween;
correlating an actual measured yaw rate with said first yaw rate to determine if said first yaw rate is invalid, wherein said correlating includes determining a difference between said actual measured yaw rate and said first yaw rate; and
estimating a second yaw rate using an actual measured lateral acceleration and an effective vehicle velocity if said first yaw rate is invalid, wherein said first yaw rate is invalid if a difference between said actual measured yaw rate and said first estimated yaw rate is not within a selected threshold. - View Dependent Claims (12)
correlating said actual measured yaw rate with said second yaw rate to determine if said second yaw rate is invalid;
determining that said actual measured yaw rate is invalid if a difference between said actual measured yaw rate and said second yaw rate is not within a selected threshold; and
generating a signal indicative of a failed yaw rate sensor if said actual measured yaw rate is determined to be invalid.
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13. A storage medium encoded with a machine readable computer program code for estimating a yaw rate of a vehicle, the storage medium including instructions for causing a computer to implement a method, the method comprising:
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receiving at least one signal indicative of a vehicular lateral acceleration;
receiving at least one signal indicative of a vehicular velocity;
providing a plurality of yaw rate estimators;
selecting a first yaw rate estimator from said plurality of yaw rate estimators in response to at least one of said received signals;
estimating a first yaw rate in accordance with the selected said first yaw rate estimator and at least one of said received signals;
receiving a signal indicative of a measured yaw rate from a yaw rate sensor;
comparing said measured yaw rate with said first yaw rate;
detecting an inaccurate measured yaw rate in accordance with the comparison when the comparison is not within a selected threshold value; and
selecting a second yaw rate estimator from said plurality of yaw rate estimators upon said detection of said inaccurate yaw rate.
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14. A computer data signal for estimating yaw rate of a vehicle, the computer data signal comprising code configured to cause a processor to implement a method, the method comprising:
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receiving at least one signal indicative of a vehicular lateral acceleration;
receiving at least one signal indicative of a vehicular velocity;
providing a plurality of yaw rate estimators;
selecting a first yaw rate estimator from said plurality of yaw rate estimators in response to at least one of said received signals; and
estimating a first yaw rate in accordance with the selected said first yaw rate estimator and at least one of said received signals;
receiving a signal indicative of a measured yaw rate from a yaw rate sensor;
comparing said measured yaw rate with said first yaw rate;
detecting an inaccurate measured yaw rate in accordance with the comparison when the comparison is not within a selected threshold value; and
selecting a second yaw rate estimator from said plurality of yaw rate estimators upon said of said inaccurate yaw rate.
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15. A controller for providing an estimated yaw rate algorithm for a vehicle, the controller comprising:
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means for providing a plurality of signals indicative of an estimated yaw rate;
means for correlating at least a first of the provided signals to determine if it is within a threshold with respect to an actual measured yaw rate signal from a yaw rate sensor;
means for correlating at least a second of the provided signals to determine if it is within the threshold with respect to the actual measured yaw rate signal from said yaw rate sensor;
means for transitioning between said first of the provided signals and said second of the provided signals when one of said first and second of the provided signals is invalid. - View Dependent Claims (16)
a means to indicate a fault of said yaw rate sensor when said first and second of the provided signals is invalid.
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Specification