Method and apparatus for determining lateral velocity of a motor vehicle in closed form for all road and driving conditions
First Claim
1. An apparatus for determining lateral velocity of an automotive vehicle comprising:
- a vehicle speed sensor for generating a vehicle speed signal;
a roll rate sensor for generating a roll rate signal;
a yaw rate sensor for generating a yaw rate signal;
a lateral acceleration sensor for generating a lateral acceleration signal;
a longitudinal acceleration sensor for generating a longitudinal acceleration signal; and
a controller coupled to the sensors for determining a steady state pitch angle and a steady state roll angle as a function of the lateral acceleration signal, the longitudinal acceleration signal, the yaw rate signal, and the vehicle speed signal, determining a sliding index as a function of the steady state pitch angle, the steady state roll angle and the roll rate signal, and determining a lateral velocity as a function of the sliding index.
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Accused Products
Abstract
An apparatus for determining lateral velocity of an automotive vehicle (10) includes a vehicle speed sensor (20), a roll rate sensor (34), a yaw rate sensor (28), a lateral acceleration sensor (32), and a longitudinal acceleration sensor (36). A controller (26) is coupled to the sensors and determines a steady state pitch angle and a steady state roll angle as a function of the lateral acceleration signal, the longitudinal acceleration signal, the yaw rate signal, and the vehicle speed signal. The controller determines a sliding index as a function of the steady state pitch signal, the steady state roll angle, and the roll rate signal. The controller (26) determines lateral velocity as a function of the sliding index and controls the vehicle lateral motion based on the estimated lateral velocity.
36 Citations
17 Claims
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1. An apparatus for determining lateral velocity of an automotive vehicle comprising:
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a vehicle speed sensor for generating a vehicle speed signal;
a roll rate sensor for generating a roll rate signal;
a yaw rate sensor for generating a yaw rate signal;
a lateral acceleration sensor for generating a lateral acceleration signal;
a longitudinal acceleration sensor for generating a longitudinal acceleration signal; and
a controller coupled to the sensors for determining a steady state pitch angle and a steady state roll angle as a function of the lateral acceleration signal, the longitudinal acceleration signal, the yaw rate signal, and the vehicle speed signal, determining a sliding index as a function of the steady state pitch angle, the steady state roll angle and the roll rate signal, and determining a lateral velocity as a function of the sliding index. - View Dependent Claims (2, 3, 4, 5)
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6. A method of controlling a vehicle comprising:
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measuring a vehicle speed;
measuring a roll rate of the vehicle;
measuring a yaw rate of the vehicle;
measuring a lateral acceleration of the vehicle;
measuring a longitudinal acceleration of the vehicle; and
determining a lateral velocity as a function of the longitudinal acceleration, the vehicle speed, the lateral acceleration, the yaw rate and the roll rate; and
controlling a safety system in response to the lateral velocity. - View Dependent Claims (7, 8, 9)
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10. A method of controlling a vehicle comprising:
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measuring a vehicle speed;
measuring a roll rate of the vehicle;
measuring a yaw rate of the vehicle;
measuring a lateral acceleration of the vehicle;
measuring a longitudinal acceleration of the vehicle;
determining a steady state pitch angle as a function of the longitudinal acceleration and the vehicle speed;
determining a steady state roll angle as function of the lateral acceleration, the yaw rate, and the vehicle speed;
determining a sliding index as a function of the steady state pitch angle, the steady state roll angle and the roll rate; and
determining a lateral velocity as a function of the sliding index; and
controlling a safety system in response to the lateral velocity. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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Specification