Method for determining estimated vehicle dynamics parameters
First Claim
1. A method for determining estimated vehicle dynamics parameters, said method comprising:
- estimating the vehicle parameters using input signals including a front wheel steering angle signal, a rear wheel steering angle signal, a vehicle lateral acceleration signal, a vehicle yaw rate signal and a vehicle speed signal, wherein estimating the vehicle parameters includes using a linear parameter estimation algorithm;
disabling the vehicle dynamics parameter estimation if the vehicle is not operating in a linear region including outputting a disable signal for disabling the vehicle dynamics parameter estimation; and
disregarding the estimated vehicle parameters if a rich steering input condition is not met and the estimated vehicle parameters are not reliable and are not ready to be used including outputting a disregard signal for disregarding the estimated vehicle parameters.
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Abstract
A method for determining estimated vehicle dynamics parameters using a vehicle parameter estimator, a vehicle condition detector and a rich steering input detector for estimating vehicle understeer coefficient and front and rear cornering compliances in real time. The vehicle parameter estimator receives a front wheel steering angle signal, a rear wheel steering angle signal, a vehicle lateral acceleration signal, a vehicle yaw rate signal and a vehicle speed signal, and employs a linear parameter estimation algorithm for estimating the understeer coefficient, and the front and rear corning compliance. The vehicle condition detector receives the front wheel steering angle signal, the rear wheel steering angle signal, the vehicle yaw rate signal and the vehicle speed signal, and disables the vehicle parameter estimator if the vehicle is not operating in a linear region. The rich steering input detector determines whether the estimated vehicle parameters are reliable and are ready to be used.
24 Citations
13 Claims
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1. A method for determining estimated vehicle dynamics parameters, said method comprising:
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estimating the vehicle parameters using input signals including a front wheel steering angle signal, a rear wheel steering angle signal, a vehicle lateral acceleration signal, a vehicle yaw rate signal and a vehicle speed signal, wherein estimating the vehicle parameters includes using a linear parameter estimation algorithm; disabling the vehicle dynamics parameter estimation if the vehicle is not operating in a linear region including outputting a disable signal for disabling the vehicle dynamics parameter estimation; and disregarding the estimated vehicle parameters if a rich steering input condition is not met and the estimated vehicle parameters are not reliable and are not ready to be used including outputting a disregard signal for disregarding the estimated vehicle parameters. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for determining estimated vehicle dynamics parameters, said method comprising:
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estimating a vehicle understeer coefficient, a front cornering compliance and a rear cornering compliance using a linear parameter estimation algorithm and input signals including a front wheel steering angle signal, a rear wheel steering angle signal, a vehicle lateral acceleration signal, a vehicle yaw rate signal and a vehicle speed signal; disabling the vehicle dynamics parameter estimation if the vehicle is not traveling faster than a predetermined speed, the vehicle is accelerating or decelerating faster than a predetermined rate or the vehicle yaw rate is greater than a predetermined yaw rate, wherein disabling the vehicle dynamics parameter estimation includes outputting a disable signal for disabling the vehicle dynamics parameter estimation; and disregarding the estimated vehicle parameters if a rich steering input condition is not met and the estimated vehicle parameters are not reliable and are not ready to be used, wherein disregarding the estimated vehicle parameters includes determining a reference model that has pre-defined reference model parameters, providing an estimation of the reference model parameters and comparing the estimation of the reference model parameters to the pre-defined reference model parameters, wherein disregarding the estimated vehicle parameters includes outputting a disregard signal for disregarding the estimated vehicle parameters. - View Dependent Claims (11, 12, 13)
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Specification