Attitude sensing system for an automotive vehicle
First Claim
1. A control system for an automotive vehicle having a vehicle body comprising:
- a first angular rate sensor generating a first angular rate signal corresponding to a first angular motion of the vehicle body;
a second angular rate sensor generating a second motion signal corresponding to a second angular motion of the vehicle body;
a lateral accelerometer generating a lateral acceleration signal corresponding to a lateral acceleration of a center of gravity of the vehicle body;
a longitudinal accelerometer generating a longitudinal acceleration signal corresponding to the longitudinal acceleration of the center of gravity of the vehicle body;
a wheel speed sensor generating a wheel speed signal corresponding to a wheel speed of the vehicle; and
a controller coupled to said first angular rate sensor, said second angular rate sensor, said lateral accelerometer, said longitudinal accelerometer, and said wheel speed sensor, said controller comprising an anti-integration drift filter and a steady state recovery filter, said controller determining a roll attitude angle, a pitch attitude angle and a yaw attitude angle in response to said first angular rate signal, said second angular rate signal, said lateral acceleration signal, said longitudinal acceleration signal, said wheel speed signal, said anti-integration drift filter and said steady state recovery filter.
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Accused Products
Abstract
A stability control system (18) for an automotive vehicle includes a plurality of sensors (28-39) sensing the dynamic conditions of the vehicle. The sensors may include a speed sensor (20), a lateral acceleration sensor (32), a roll rate sensor (34), a yaw rate sensor (20) and a longitudinal acceleration sensor (36). The controller (26) is coupled to the speed sensor (20), the lateral acceleration sensor (32), the roll rate sensor (34), the yaw rate sensor (28) and a longitudinal acceleration sensor (36). The controller (26) has an anti-integration drift filter and a steady state recovery filter. The controller determines a roll attitude angle, a pitch attitude angle and a yaw attitude angle in response to the roll angular rate signal, the yaw angular rate signal, the lateral acceleration signal, the longitudinal acceleration signal, the wheel speed signal, the anti-integration drift filter and the steady state recovery filter.
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Citations
20 Claims
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1. A control system for an automotive vehicle having a vehicle body comprising:
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a first angular rate sensor generating a first angular rate signal corresponding to a first angular motion of the vehicle body;
a second angular rate sensor generating a second motion signal corresponding to a second angular motion of the vehicle body;
a lateral accelerometer generating a lateral acceleration signal corresponding to a lateral acceleration of a center of gravity of the vehicle body;
a longitudinal accelerometer generating a longitudinal acceleration signal corresponding to the longitudinal acceleration of the center of gravity of the vehicle body;
a wheel speed sensor generating a wheel speed signal corresponding to a wheel speed of the vehicle; and
a controller coupled to said first angular rate sensor, said second angular rate sensor, said lateral accelerometer, said longitudinal accelerometer, and said wheel speed sensor, said controller comprising an anti-integration drift filter and a steady state recovery filter, said controller determining a roll attitude angle, a pitch attitude angle and a yaw attitude angle in response to said first angular rate signal, said second angular rate signal, said lateral acceleration signal, said longitudinal acceleration signal, said wheel speed signal, said anti-integration drift filter and said steady state recovery filter. - View Dependent Claims (2)
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3. A control system for an automotive vehicle having a vehicle body comprising;
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a roll angular rate sensor generating a roll angular rate signal corresponding to a roll angular motion of the vehicle body;
a yaw angular rate sensor generating a yaw motion signal corresponding to a yaw motion of the vehicle body;
a lateral accelerometer generating a lateral acceleration signal corresponding to a lateral acceleration of a center of gravity of the vehicle body;
a longitudinal accelerometer generating a longitudinal acceleration signal corresponding to the longitudinal acceleration of the center of gravity of the vehicle body;
a wheel speed sensor generating a wheel speed signal corresponding to a wheel speed of the vehicle; and
a controller coupled to said roll angular rate sensor, said yaw angular rate sensor, said lateral accelerometer, said longitudinal accelerometer, and said wheel speed sensor, said controller comprising an anti-integration drift filter and a steady state recovery filter, said controller determining a roll attitude angle, a pitch attitude angle and a yaw attitude angle in response to said roll angular rate signal, said yaw angular rate signal, said lateral acceleration signal, said longitudinal acceleration signal, said wheel speed signal, said anti-integration drift filter and said steady state recovery filter. - View Dependent Claims (4, 5, 6, 7, 8, 9)
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10. A method for operating a vehicle control system comprising:
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generating a plurality of sensor signals in response to vehicle conditions comprising a roll rate sensor signal, a vehicle velocity signal and a longitudinal acceleration signal;
generating a yaw rate sensor signal;
estimating a vehicle pitch angle estimation in response to said plurality of sensor signals;
determining a transient roll attitude angle in response to said pitch angle estimation, roll rate sensor signal, yaw rate sensor signal;
determining a steady state roll attitude angle in response to said pitch angle estimation, vehicle velocity signal and longitudinal acceleration signal;
determining a roll attitude angle estimation in response to the steady state roll attitude angle and the transient roll attitude angle;
determining a pitch rate estimation in response to the roll and pitch angle estimation and the yaw rate sensor signal; and
activating a safety device in response to the roll attitude angle estimation. - View Dependent Claims (11, 12, 13)
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14. A method of operating a safety device for an automotive vehicle comprising the steps of:
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determining a yaw rate for the vehicle;
determining a roll rate for the vehicle;
determining a lateral acceleration for the vehicle;
determining a longitudinal acceleration of the vehicle;
determining vehicle speed;
generating a rollover signal in response to said yaw rate, roll rate, lateral acceleration, longitudinal acceleration, vehicle speed, an anti-integration drift filter, and a steady state recovery filter; and
operating a safety device in response to said rollover signal. - View Dependent Claims (15, 16)
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17. A method of operating a safety device for an automotive vehicle comprising the steps of:
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determining a first angular rate for the vehicle;
determining a first acceleration for the vehicle;
determining a second acceleration for the vehicle;
determining vehicle speed; and
generating a rollover signal in response to said first angular rate, said second angular rate, said first acceleration, said second acceleration, a vehicle speed, an anti- integration drift filter, and a steady state recovery filter; and
operating a safety device in response to said rollover signal. - View Dependent Claims (18, 19, 20)
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Specification