System for detecting surface profile of a driving road
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 acceleration sensor generating a lateral acceleration signal corresponding to a lateral acceleration of a center of gravity of the vehicle body;
a longitudinal acceleration sensor 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 acceleration sensor, said longitudinal acceleration sensor, and said wheel speed sensor, said controller determining a first flatness index and a second flatness index from the first angular rate signal, the second angular rate signal, the lateral acceleration signal and the longitudinal acceleration signal, and the speed signal, said controller determining a road slope or pitch angle and a road bank angle in response to the first flatness index and the second flatness index.
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Accused Products
Abstract
A control system (18) has a roll angular rate sensor (34), a yaw angular rate sensor (28), a lateral acceleration sensor (32), a longitudinal acceleration sensor (36), and four wheel speed sensors (20). The controller (26) determines a relative pitch angle and relative roll angle using the lateral acceleration signal, the longitudinal acceleration signal and the roll rate signal; a first flatness index using the roll angular rate signal, the yaw angular rate signal, the relative roll angle and a relative pitch angle; a steady state pitch angle using the vehicle speed and the longitudinal acceleration, and a steady state roll angle using the lateral acceleration, speed, and yaw rate. The controller (26) determines a second flatness index using the steady state pitch angle, the relative pitch angle, the yaw rate, the steady state roll angle and a relative roll angle.
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Citations
19 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 acceleration sensor generating a lateral acceleration signal corresponding to a lateral acceleration of a center of gravity of the vehicle body;
a longitudinal acceleration sensor 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 acceleration sensor, said longitudinal acceleration sensor, and said wheel speed sensor, said controller determining a first flatness index and a second flatness index from the first angular rate signal, the second angular rate signal, the lateral acceleration signal and the longitudinal acceleration signal, and the speed signal, said controller determining a road slope or pitch angle and a road bank angle in response to the first flatness index and the second flatness index. - 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 an roll angular motion of the vehicle body;
a yaw angular rate sensor generating a yaw rate signal corresponding to a yaw motion of the vehicle body;
a lateral acceleration sensor generating a lateral acceleration signal corresponding to a lateral acceleration of a center of gravity of the vehicle body;
a longitudinal acceleration sensor 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 acceleration sensor, said longitudinal acceleration sensor, and said wheel speed sensor, said controller determining a relative pitch angle and relative roll angle as a function of the lateral acceleration signal, the longitudinal acceleration signal and the roll rate signal, determining a first flatness index as a function of the roll angular rate signal, the yaw angular rate signal, the relative roll angle and a relative pitch angle, said controller determining a steady state pitch angle as a function of the vehicle speed and the longitudinal acceleration, said controller determining a steady state roll angle as a function of lateral acceleration, vehicle speed and yaw rate, said controller determining a second flatness index as a function of the steady state pitch angle, the relative pitch angle, the yaw rate, the steady state roll angle and a relative roll angle. - View Dependent Claims (4, 5, 6, 7, 8, 9)
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10. A method controlling an automotive vehicle comprising:
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estimating a first flatness index indicative of road flatness;
estimating a second flatness index indicative of road flatness;
determining a road pitch slope in response to the first flatness index and the second flatness index; and
determining a road bank angle in response to the first flatness index and the second flatness index. - View Dependent Claims (11, 12, 13, 14, 15, 16)
determining a roll angular rate signal, a yaw angular rate signal, a relative roll angle and a relative pitch angle;
wherein the first flatness index is a function of a first flatness index as a function of the roll angular rate signal, the yaw angular rate signal, the relative roll angle and a relative pitch angle •
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16. A method as recited in claim 10 further comprising:
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determining a steady state pitch angle, a relative pitch angle, a yaw rate, a steady state roll angle and a relative roll angle;
wherein the second flatness index is a function of the steady state pitch angle, the relative pitch angle, the yaw rate, the steady state roll angle and a relative roll angle.
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17. A method of controlling an automotive vehicle comprising:
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measuring a roll rate of the vehicle body;
measuring a lateral acceleration of the vehicle body;
measuring the longitudinal acceleration of the vehicle body;
measuring the yaw rate of the vehicle body;
measuring a vehicle speed;
determining a relative pitch angle and relative roll angle as a function of the lateral acceleration, the longitudinal acceleration and the roll rate signal;
determining a first flatness index as a function of the roll angular rate, the yaw angular rate, the relative roll angle and a relative pitch angle;
determining a steady state pitch angle as a function of the vehicle speed and the longitudinal acceleration;
determining a steady state roll angle as a function of lateral acceleration, longitudinal speed and yaw rate;
a determining a second flatness index as a function of the steady state pitch angle, the relative pitch angle, the yaw rate, the steady state roll angle and a relative roll angle; and
generating a control signal as a function of the first flatness index and the second flatness index. - View Dependent Claims (18, 19)
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Specification