Vehicle stability control with lateral dynamics feedback
First Claim
1. A method for estimating side-slip of a vehicle, said method comprising:
- measuring the lateral acceleration of the vehicle and providing a measured lateral acceleration signal;
measuring the yaw rate of the vehicle and providing a measured yaw rate signal;
measuring the longitudinal speed of the vehicle and providing a measured longitudinal speed signal;
correcting the measured longitudinal speed signal to provide a true longitudinal speed signal;
defining a constant based on the measured longitudinal speed signal;
defining a function based on predetermined vehicle-dependent parameters and the measured lateral acceleration signal; and
estimating the side-slip by combining the measured lateral acceleration signal, the measured yaw rate signal, the true longitudinal speed signal, the constant and the function.
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Accused Products
Abstract
A system and method for estimating vehicle side-slip velocity that includes measuring the lateral acceleration of the vehicle, measuring the yaw rate of the vehicle, measuring the longitudinal speed of the vehicle and measuring the steering angle of the vehicle. The measured longitudinal speed is corrected to provide a true longitudinal speed using a filter factor based on the vehicle-dependent parameters and a steering angle. A constant is defined based on the measured longitudinal speed and a function is defined based on the combination of the vehicle-dependent parameters and the lateral acceleration. Side-slip acceleration is calculated using the measured lateral acceleration, the true longitudinal speed, the yaw rate, the constant and the function.
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Citations
24 Claims
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1. A method for estimating side-slip of a vehicle, said method comprising:
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measuring the lateral acceleration of the vehicle and providing a measured lateral acceleration signal; measuring the yaw rate of the vehicle and providing a measured yaw rate signal; measuring the longitudinal speed of the vehicle and providing a measured longitudinal speed signal; correcting the measured longitudinal speed signal to provide a true longitudinal speed signal; defining a constant based on the measured longitudinal speed signal; defining a function based on predetermined vehicle-dependent parameters and the measured lateral acceleration signal; and estimating the side-slip by combining the measured lateral acceleration signal, the measured yaw rate signal, the true longitudinal speed signal, the constant and the function. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A system for estimating side-slip of a vehicle, said system comprising:
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a lateral acceleration sensor for measuring the lateral acceleration of the vehicle and providing a measured lateral acceleration signal; a yaw rate sensor for measuring the yaw rate of the vehicle and providing a measured yaw rate signal; a longitudinal speed sensor for measuring the longitudinal speed of the vehicle and providing a measured longitudinal speed signal; and a side-slip estimation processor for estimating the side-slip of the vehicle, said processor correcting the measured longitudinal speed signal to provide a true longitudinal speed signal, defining a constant based on the measured longitudinal speed signal, and defining a function based on predetermined vehicle-dependent parameters and the measured lateral acceleration signal, said processor estimating the side-slip by combining the measured lateral acceleration signal, the measured yaw rate signal, the true longitudinal speed signal, the constant and the function. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 21, 22, 23, 24)
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20. A system for estimating side-slip of a vehicle, said system comprising:
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a lateral acceleration sensor for measuring the lateral acceleration of the vehicle and providing a measured lateral acceleration signal; a yaw rate sensor for measuring the yaw rate of the vehicle and providing a measured yaw rate signal; a longitudinal speed sensor for measuring the longitudinal speed of the vehicle and providing a measured longitudinal speed signal; a hand-wheel angle sensor for measuring the position of a vehicle hand-wheel and providing a hand-wheel signal; and a side-slip estimation processor for estimating the side-slip of the vehicle, said side-slip estimation processor correcting the measured longitudinal speed signal to provide a true longitudinal speed signal by filtering the measured longitudinal speed signal using vehicle-dependent parameters to provide a filtered longitudinal speed signal and correcting the filtered longitudinal speed signal to provide a steering angle correction using the hand-wheel signal, said side-slip estimation processor defining a constant based on the measured longitudinal speed signal and defining a function based on the predetermined vehicle-dependent parameters and the measured lateral acceleration signal, said side-slip estimation processor estimating side-slip acceleration of the vehicle using an equation that combines the measured lateral acceleration signal, the measured yaw rate signal, the true longitudinal speed signal, the constant and the function, wherein the equation multiplies the constant and the function.
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Specification