Method and apparatus for compensating misalignments of a sensor system used in a vehicle dynamic control system

• US 6,782,315 B2
• Filed: 06/19/2002
• Issued: 08/24/2004
• Est. Priority Date: 06/19/2002
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Lu, Jianbo, Brown, Todd Allen
• Primary Examiner(s): Black, Thomas G.
• Assistant Examiner(s): Donnelly, Arthur D.
• Application Number:
  US10/174,971
• Publication Number:
  US 20030236604A1
• Time in Patent Office: 797 Days
• Field of Search: 701/28, 701/29, 701/50, 701/45, 701/37, 701/38, 701/48, 701/35, 340/671, 340/436, 340/425, 340/440, 280/735, 280/734, 180/271, 180/268, 180/281
• US Class Current: 701/45
• CPC Class Codes: B60G 17/0185 for failure detection
• CPC Class Codes: B60G 17/0195 characterised by the regulation being combined with other vehicle control systems conjoint control of vehicle sub-units including control of suspension systems B60W10/22
• CPC Class Codes: B60G 2400/0521 Roll rate
• CPC Class Codes: B60G 2400/0522 Pitch rate
• CPC Class Codes: B60G 2400/0523 Yaw rate
• CPC Class Codes: B60G 2400/102 vertical
• CPC Class Codes: B60G 2400/104 lateral or transversal with regard to vehicle
• CPC Class Codes: B60G 2400/106 longitudinal with regard to vehicle, e.g. braking
• CPC Class Codes: B60G 2600/082 Sensor drift
• CPC Class Codes: B60G 2800/80 Detection or control after a system or component failure
• CPC Class Codes: B60R 2021/01313 monitoring the vehicle steering system or the dynamic control system
• CPC Class Codes: B60R 2021/01327 Angular velocity or angular acceleration
• CPC Class Codes: B60R 21/0132 responsive to vehicle motion parameters , e.g. to vehicle longitudinal or transversal deceleration or speed value
• CPC Class Codes: B60T 2250/06 Sensor zero-point adjustment; Offset compensation
• CPC Class Codes: B60T 2250/062 loosing zero-point calibration of yaw rate sensors when travelling on banked roads or in case of temperature variations
• CPC Class Codes: B60T 8/1755 Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02
• CPC Class Codes: B60W 2050/0075 Automatic parameter input, automatic initialising or calibrating means
• CPC Class Codes: B60W 2050/0215 Sensor drifts or sensor failures
• CPC Class Codes: B60W 2520/105 Longitudinal acceleration
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2520/14 : Yaw
• CPC Class Codes: B60W 2520/16 : Pitch
• CPC Class Codes: B60W 2520/18 : Roll
• CPC Class Codes: B60W 2720/00 : Output or target parameters relating to overall vehicle dynamics
• CPC Class Codes: B60W 50/00 : Details of control systems for road vehicle drive control not related to the control of a particular sub-unit , e.g. process diagnostic or vehicle driver interfaces
• CPC Class Codes: B62D 6/04 : responsive only to forces disturbing the intended course of the vehicle, e.g. forces acting transversely to the direction of vehicle travel

Abstract

A control system (18) for an automotive vehicle (10) having a vehicle body includes a sensor system (16) having housing (52) oriented within the vehicle body. Positioned within the housing (52) are a roll angular rate sensor (31), a yaw angular rate sensor (30), a pitch angular rate sensor (32), a lateral acceleration sensor (27), a longitudinal acceleration sensor (28), and a vertical acceleration sensor (29). The vehicle (10) also has a safety system (38). The controller (26) determines a roll misalignment angle, a pitch misalignment angle and a yaw misalignment angle as a function of the sensor outputs of the roll rate, the pitch rate, the yaw rate, the lateral acceleration, the longitudinal acceleration and the vertical acceleration. The motion variables the vehicle along the vehicle body-fixed frames, including the roll rate, the pitch rate, the yaw rate, the lateral acceleration, the longitudinal acceleration and the vertical acceleration, are then compensated based on the detected sensor misalignments and the sensor outputs of the roll rate, the pitch rate, the yaw rate, the lateral acceleration, the longitudinal acceleration and the vertical acceleration. The controller (26) generates a control signal for controlling the safety system in response to the compensated roll rate, pitch rate, yaw rate, lateral acceleration, longitudinal acceleration and vertical acceleration.

Claims

1. A method for controlling a vehicle dynamics control system comprising:

determining a roll misalignment angle;

determining a pitch misalignment angle;

determining a yaw misalignment angle; and

activating a safety system as a function of said roll misalignment angle, the pitch misalignment angle and the yaw misalignment angle.

2. A method as recited in claim 1 further comprising measuring a roll rate, measuring a yaw rate, measuring a pitch rate, and generating a corrected roll rate, a corrected yaw rate and a corrected pitch rate as a function of said roll misalignment angle, the pitch misalignment angle and the yaw misalignment angle.

3. A method as recited in claim 1 further comprising measuring a lateral acceleration, a longitudinal acceleration, and a vertical acceleration, and generating a corrected lateral acceleration, a corrected longitudinal acceleration and a corrected vertical acceleration as a function of said roll misalignment angle, the pitch misalignment angle and the yaw misalignment angle.

4. A method as recited in claim 1 further comprising determining a global roll angle as a function of the roll misalignment angle.

5. A method as recited in claim 1 further comprising determining a global pitch angle as a function of the pitch misalignment angle.

6. A method as recited in claim 1 further comprising determining a global yaw angle as a function of the yaw misalignment angle.

7. A method as recited in claim 1 wherein determining a roll misalignment angle comprises determining a roll misalignment angle as a function of a yaw rate from a yaw rate sensor, a pitch rate from a pitch rate sensor, and at least one of an acceleration from an acceleration sensor, a pitch angle or a roll angle.

8. A method as recited in claim 1 wherein determining a pitch misalignment angle comprises determining a pitch misalignment angle as a function of a yaw rate from a yaw rate sensor, a roll rate from a roll rate sensor and at least one of a lateral acceleration from a lateral acceleration sensor, a roll angle or a pitch angle.

9. A method as recited in claim 1 wherein determining a yaw misalignment angle comprises determining a yaw misalignment angle as a function of a yaw rate from a yaw rate sensor, a lateral acceleration from a lateral acceleration sensor, and a longitudinal acceleration from a longitudinal acceleration sensor.

10. A method as recited in claim 1 wherein determining a roll misalignment angle comprises measuring a yaw rate from a yaw rate sensor, a vertical acceleration from a vertical acceleration sensor, a pitch rate from a pitch rate sensor and a vehicle speed from a vehicle speed sensor in accordance with the equation ${\Delta }_{}$

θ

x=ω

zs

vxg-azs-ω

ys

vx

and low-pass filtering Δ

θ

_x.

11. A method as recited in claim 1 wherein determining roll misalignment angle comprises measuring a yaw rate from a yaw rate sensor, measuring a pitch rate from a pitch rate sensor, calculating a roll angle and calculating a pitch angle in accordance with the following ${\Delta }_{}$

θ

x=θ

.y-ω

ys+ω

zs

θ

xω

zs

and low-pass filtering Δ

θ

_x.

12. A method as recited in claim 1 wherein determining a pitch misalignment angle comprises measuring a yaw rate from a yaw rate sensor, measuring a roll rate from a roll rate sensor, measuring vehicle speed from a vehicle speed sensor, measuring a lateral acceleration from a lateral acceleration sensor, and calculating a roll angle in accordance with the following ${\Delta }_{}$

θ

y=sin-1(ays+g

 



θ

xvx

ω

xs2+ω

zs2)+sin-1(ω

zsω

xs2+ω

zs2)

and low-pass filtering Δ

θ

_y.

13. A method as recited in claim 1 wherein determining a pitch misalignment angle comprises measuring a yaw rate from a yaw rate sensor, measuring a roll rate from a roll rate sensor, and calculating a roll angle and calculating a pitch angle, in accordance with the following ${\Delta }_{}$

θ

y=θ

.x-ω

xs-ω

zs

θ

yω

zs

and low-pass filtering Δ

θ

_y.

14. A method as recited in claim 1 wherein determining a yaw misalignment angle comprises measuring a yaw rate from a yaw rate sensor, measuring a lateral acceleration from a lateral acceleration sensor, measuring a longitudinal acceleration from a longitudinal acceleration sensor, and calculating a roll angle, in accordance with the following ${\Delta }_{}$

θ

z=sin-1(ω

zs

vx-g

 



θ

xaxs2+ays2)-sin-1(aysaxs2+ays2)

and low-pass filtering Δ

θ

_z.

15. A method for controlling a vehicle dynamics control system comprising:

determining a roll misalignment angle;

determining a global roll angle as a function of the roll angle misalignment;

determining a pitch misalignment angle;

determining a global pitch angle as a function of the pitch angle misalignment;

determining a yaw misalignment angle;

determining a global yaw angle as a function of the yaw angle misalignment; and

activating a safety system in response to said global roll angle, said global pitch angle, and said global yaw angle.

16. A control system for an automotive vehicle having a vehicle body comprising:

a sensor system having a housing oriented within the vehicle body;

a roll angular rate sensor positioned within the housing generating a roll angular rate signal corresponding to roll angular motion of the sensor housing;

a yaw angular rate sensor positioned within the housing generating a yaw rate signal corresponding to a yaw motion of the sensor housing;

a pitch angular rate sensor positioned within the housing generating a pitch rate signal corresponding to a pitch motion of the sensor housing;

a lateral acceleration sensor positioned within the housing generating a lateral acceleration signal corresponding to a lateral acceleration of the sensor housing;

a longitudinal acceleration sensor positioned within the housing generating a longitudinal acceleration signal corresponding to the longitudinal acceleration of the sensor housing;

a vertical acceleration sensor positioned within the housing generating a vertical acceleration signal corresponding to the vertical acceleration of the sensor housing;

a wheel speed sensor generating a wheel speed signal corresponding to a wheel speed of the vehicle;

a safety system; and

a controller coupled to said roll angular rate sensor, said yaw angular rate sensor, said pitch angular rate sensor, said lateral acceleration sensor, said longitudinal acceleration sensor, said vertical acceleration sensor and said wheel speed sensor, said controller determining a roll misalignment angle;

determining a pitch misalignment angle;

determining a yaw misalignment angle as a function of said roll rate, said pitch rate, said yaw rate, said lateral acceleration, said longitudinal acceleration and said vertical acceleration, said controller generating a control signal for controlling said safety system in response to said roll misalignment angle, said pitch misalignment angle and said yaw misalignment angle.

17. A system as recited in claim 16 wherein said controller generates a corrected roll rate signal, a corrected yaw rate signal and a corrected pitch rate signal as a function of said roll misalignment angle, the pitch misalignment angle and the yaw misalignment angle, said controller generating said control signal as a function of the corrected roll rate signal, the corrected yaw rate signal and a corrected pitch rate signal.

18. A system as recited in claim 16 wherein said controller generates a corrected lateral acceleration, a corrected longitudinal acceleration and a corrected vertical acceleration as a function of said roll misalignment angle, the pitch misalignment angle and the yaw misalignment angle, said controller generating said control signal as a function of the corrected lateral acceleration, the corrected longitudinal acceleration and the corrected vertical acceleration.