Method and system for correcting sensor offsets

• US 7,085,642 B2
• Filed: 07/10/2003
• Issued: 08/01/2006
• Est. Priority Date: 08/05/2002
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Samuel, Stephen Varghese, Brown, Todd Allen
• Primary Examiner(s): Tran, Dalena
• Application Number:
  US10/617,278
• Publication Number:
  US 20040030474A1
• Time in Patent Office: 1,118 Days
• Field of Search: 701/82, 701/36, 701/93, 701/38, 701/5, 701/70, 180/170, 180/282, 702/104, 702/85, 702/142, 702/96, 702/87, 702/88, 702/89, 340/440
• US Class Current: 701/82
• 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 2400/0532 Pitch acceleration
• CPC Class Codes: B60G 2400/0533 Yaw acceleration
• 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 2400/204 Vehicle speed
• CPC Class Codes: B60G 2400/41 Steering angle
• CPC Class Codes: B60G 2600/082 Sensor drift
• CPC Class Codes: B60G 2800/012 Rolling condition
• CPC Class Codes: B60G 2800/702 Improving accuracy of a sensor signal
• CPC Class Codes: B60G 2800/91 Suspension Control
• CPC Class Codes: B60G 2800/9122 ARS - Anti-Roll System Control
• CPC Class Codes: B60G 2800/92 ABS - Brake Control
• CPC Class Codes: B60G 2800/96 ASC - Assisted or power Steering control
• CPC Class Codes: B60G 2800/962 Four-wheel steering
• CPC Class Codes: B60T 2250/06 Sensor zero-point adjustment; Offset compensation
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence
• CPC Class Codes: B60T 8/885 : using electrical circuitry
• CPC Class Codes: G01C 21/10 : by using measurements of speed or acceleration G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01C 25/00 : Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass testing, calibrating or compensating compasses G01C17/38

Abstract

A control system (18) for an automotive vehicle (19) having a vehicle body includes a cluster (16) of vehicle dynamic sensors (27, 28, 30, 31), the output signals from the sensors (Yaw Rate Sensor, Roll Rate Sensor, Longitudinal Acceleration Sensor, Lateral Acceleration Sensor) are corrected for errors by removing the zero output DC bias. Such bias constitutes an error that may occur as a result of temperature changes, manufacturing defects, or other factors. The system (18) also compensates for the drift in the sensor output signals that occur during vehicle operation.

Claims

1. A sensor offset correction method for a vehicle comprising;

generating a first offset correction signal for a vehicle dynamic sensor at a sensor power-up, and in response to the vehicle moving prior to completion of power-up, averaging a maximum and a minimum of offset values acquired during vehicle operation and using said average of said maximum and said minimum as said first offset correction signal;

generating a second offset correction signal for said vehicle dynamic sensor when the vehicle is moving; and

correcting said vehicle dynamic sensor in response to at least one of said first offset correction signal and said second offset correction signal.

2. A method as in claim 1 further comprising:

generating a third offset correction signal for said vehicle dynamic sensor when the vehicle is at rest; and

correcting said vehicle dynamic sensor in response to said third offset correction signal.

3. A method as in claim 2 further comprising:

stopping the vehicle; and

delaying generating said third offset correction signal thereby reducing influence of transient signals on said third offset correction signal.

4. A method as in claim 3, wherein generating said third offset correction signal further comprises:

generating said third offset correction signal in response to said vehicle dynamic sensor indicating a change in lateral acceleration or longitudinal acceleration.

5. A method as in claim 3 further comprising;

delaying generating said third offset correction signal until vehicle turning has ceased.

6. A method as in claim 3 further comprising:

compensating for an initialization occurring during a vehicle turn table event when the vehicle is standing still following said initialization.

7. A method as in claim 1, wherein correcting said vehicle dynamic sensor further comprises:

generating a filtered roll rate of zero; and

generating a filtered yaw rate of zero.

8. A method as in claim 1, wherein generating said second offset correction signal further comprises:

pausing offset compensation in response to continuous vehicle turning for a specified time.

9. A method as in claim 1, wherein generating said second offset correction signal further comprises:

detecting a non-zero roll rate value signal;

compensating for said roll rate value signal continuously by an amount substantially equal to a maximum temperature drift rate of said roll rate value signal;

detecting a non-zero yaw rate value signal;

compensating for said yaw rate value signal continuously by an amount substantially equal to a maximum temperature drift rate of said roll rate value signal.

10. A method as in claim 1, wherein generating said second offset correction signal further comprises;

detecting a non-zero value for a road bank angle signal;

adjusting a lateral acceleration offset, such that lateral acceleration drives said road bank angle signal to zero.

11. A method as in claim 1, wherein generating said second offset correction signal further comprises:

detecting a non-zero value for a average road pitch angle signal; and

adjusting a longitudinal acceleration offset, such that lateral acceleration drives said road bank angle signal to zero.

12. A method as in claim 1, wherein generating said first offset correction signal for said vehicle dynamic sensor further comprises:

pausing an offset correction when an RSC sensor disturbance flag is set or during events from at least one of ABS, AYC, TCS, or RSC.

13. A method as in claim 1, wherein generating said first offset correction signal for said vehicle dynamic sensor further comprises:

initializing said sensor; and

substantially eliminating D.C. bias present at initialization of said sensor.

14. A method as in claim 1, wherein generating said first offset correction signal for said vehicle dynamic sensor further comprises:

generating said first offset correction signal such that a resultant filtered roll rate is approximately zero;

generating said first offset correction signal such that a resultant filtered yaw rate is approximately zero.

15. A method as in claim 1, wherein generating said first offset correction signal further comprises:

in response to the vehicle moving prior to completion of initialization, averaging offset values previously acquired and using them as said first offset correction signal.

16. A method as in claim 1, wherein generating said first offset correction signal further comprises:

generating said first offset approximately equal to a previously stored sensor signal from a previous driving cycle.

17. A method as recited in claim 1 further comprising compensating for a valid signal bias in said vehicle dynamic sensor.

18. A method as recited in claim 17, wherein compensating for said valid signal bias further comprises adjusting an electrical long term bias over time with a minute adjustment at each sampling time or a sliding mode control.

19. A sensor offset correction method as in claim 1 further comprising:

generating a third offset correction signal for said vehicle dynamic sensor when the vehicle is at rest and said vehicle dynamic sensor is below an accuracy threshold; and

correcting said vehicle dynamic sensor in response to said first offset correction signal, said second offset correction signal and said third offset correction signal.

20. A sensor offset correction method for a vehicle comprising:

generating a first offset correction signal for a vehicle dynamic sensor at a sensor power-up in response to a DC bias;

generating a temperature drift signal for said sensor;

generating a second offset correction signal for said vehicle dynamic sensor when the vehicle is moving in response to said temperature drift signal;

generating a third offset correction signal for said vehicle dynamic sensor when the vehicle is at rest and said vehicle dynamic sensor is below an accuracy threshold;

correcting said vehicle dynamic sensor in response to said first offset correction signal, said second offset correction signal and said third offset correction signal;

generating said third offset correction signal in response to said vehicle dynamic sensor indicating a change in lateral acceleration or longitudinal acceleration;

delaying generating said third offset correction signal until vehicle turning has ceased;

compensating for an initialization occurring during a vehicle turn table event when the vehicle is standing still following said initialization; and

pausing offset compensation in response to continuous vehicle turning for a specified time;

detecting a non-zero roll rate value signal;

compensating for said roll rate value signal continuously by an amount substantially equal to a maximum temperature drift rate of said roll rate value signal;

detecting a non-zero yaw rate value signal;

detecting a non-zero value for a road bank angle signal;

adjusting a lateral acceleration offset, such that lateral acceleration drives said road bank angle signal to zero;

detecting a non-zero value for a average road pitch angle signal; and

adjusting a longitudinal acceleration offset, such that lateral acceleration drives said road bank angle signal to zero.

21. A method as in claim 20, wherein generating said first offset correction signal for said vehicle dynamic sensor further comprises:

pausing an offset correction when an RSC sensor disturbance flag is set or during events from at least one of ABS, AYC, TCS, or RSC;

initializing said sensor;

generating said first offset correction signal such that a filtered roll rate is approximately zero;

generating said first offset correction signal such that a filtered yaw rate is approximately zero;

in response to the vehicle moving prior to completion of initialization, averaging offset values previously acquired and using them as said first offset correction signal; and

generating said first offset approximately equal to a previously stored sensor signal from a previous driving cycle.

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

a cluster of vehicle dynamic sensors positioned within the vehicle body adapted to generate a plurality of vehicle dynamic signals;

and a controller adapted to receive said plurality of vehicle dynamic signals,

said controller further adapted to generate a first offset correction signal for one of said cluster of said vehicle dynamic sensors in response to a DC bias and at a sensor power-up,

said controller further adapted to generate said first offset correction signal such that a filtered roll rate is approximately zero and a filtered yaw rate is approximately zero;

said controller, in response to the vehicle moving prior to completion of initialization, adapted to average offset values previously acquired and use them as said first offset correction signal;

said controller further adapted to generate said first offset approximately equal to a previously stored sensor signal from a previous driving cycle,

said controller further adapted to generate a second offset correction signal for said one of said cluster of said vehicle dynamic sensors in response to a signal equivalent to a temperature drift signal and when the vehicle is moving,

said controller further adapted to generate a third offset correction signal for said one of said cluster of said vehicle dynamic sensors when the vehicle is at rest and said one of said cluster of said vehicle dynamic sensors is below an accuracy threshold,

said controller further adapted to correct said one of said cluster of said vehicle dynamic sensors in response to said first offset correction signal, said second offset correction signal and said third offset correction signal,

said controller further adapted to pause an offset correction when an RSC sensor disturbance flag is set or during events from at least one of ABS, AYC, TCS, or RSC.