Method for determining a longitudinal vehicle velocity by compensating individual wheel speeds using pitch attitude
First Claim
1. A control system for controlling a safety system of an automotive vehicle comprising:
- a plurality of wheel velocity sensors generating a plurality of wheel velocity signals;
a steering-angle sensor generating a steering actuator angle signal;
a yaw rate sensor generating a yaw rate signal;
a longitudinal acceleration sensor generating a longitudinal acceleration signal;
a pitch angle generator determining a pitch angle of the vehicle; and
a controller coupled to the plurality of wheel speed sensors, the steering actuator angle sensor, the yaw rate sensor, the longitudinal acceleration sensor, and the pitch angle generator, said controller generating a final reference vehicle velocity in response to the plurality of wheel velocity signals, the steering angle signal, the yaw rate signal, the lateral acceleration signal and the pitch angle signal, said controller controlling the safety system in response to the final reference vehicle velocity.
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Accused Products
Abstract
A control system (24) for controlling a safety system (40) of an automotive vehicle includes a plurality of wheel speed sensors (30) generating a plurality of wheel velocity signals, a steering angle sensor (39) generating a steering actuator angle signal, a yaw rate sensor (28) generating a yaw rate signal, a longitudinal acceleration sensor (32) generating a longitudinal acceleration signal and a pitch angle generator generating a pitch angle signal and a controller (26). The controller (26) generates a longitudinal vehicle velocity in response to the plurality of wheel speed signals, the steering angle signal, the yaw rate signal, the lateral acceleration signal and the pitch rate signal. The controller (26) may determine a slip-related longitudinal velocity and a non-slip longitudinal velocity as intermediate steps.
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Citations
39 Claims
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1. A control system for controlling a safety system of an automotive vehicle comprising:
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a plurality of wheel velocity sensors generating a plurality of wheel velocity signals;
a steering-angle sensor generating a steering actuator angle signal;
a yaw rate sensor generating a yaw rate signal;
a longitudinal acceleration sensor generating a longitudinal acceleration signal;
a pitch angle generator determining a pitch angle of the vehicle; and
a controller coupled to the plurality of wheel speed sensors, the steering actuator angle sensor, the yaw rate sensor, the longitudinal acceleration sensor, and the pitch angle generator, said controller generating a final reference vehicle velocity in response to the plurality of wheel velocity signals, the steering angle signal, the yaw rate signal, the lateral acceleration signal and the pitch angle signal, said controller controlling the safety system in response to the final reference vehicle velocity. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A method of controlling a safety system for an automotive vehicle having a plurality of wheels comprising:
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determining a non-slip longitudinal velocity;
determining a slip-related longitudinal velocity;
determining a longitudinal velocity of the vehicle in response to the non-slip longitudinal velocity and the slip related longitudinal velocity; and
controlling a safety system in response to the longitudinal velocity. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. A method of controlling a safety system for an automotive vehicle having a plurality of wheels comprising:
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determining a plurality of wheel velocities for the plurality of wheels;
determining a steering angle;
determining a yaw rate determining a first longitudinal velocity from an average of the plurality of wheel velocities;
determining a second longitudinal velocity in response to the yaw rate and at least one of the plurality of wheel velocities;
determining a third longitudinal velocity in response to the yaw rate, steering angle and at least one of the plurality of wheel velocities;
determining a plurality of contact patch velocity values;
comparing the contact patch slip velocity values to a threshold;
in response to comparing, selecting one of the first second or third longitudinal velocities as a non-slip longitudinal velocity;
when the steering is steady state, selecting a steady state longitudinal velocity as a non-slip longitudinal velocity;
determining a slip-related longitudinal velocity, determining a vehicle longitudinal velocity as a function of the non-slip longitudinal velocity and the slip longitudinal velocity; and
controlling a safety system in response to the vehicle longitudinal velocity. - View Dependent Claims (26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39)
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Specification