In-vehicle determination of the relative center of gravity height
First Claim
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1. Method for determining relative CG height in a vehicle, comprising:
- monitoring a nominal relative CG height value;
sensing vehicle roll;
determining a plurality of CG height candidates at a plurality of instances based upon vehicle dynamics data collected during the vehicle roll; and
estimating relative CG height based on the nominal relative CG height value and selective updates based upon the plurality of CG height candidates.
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Abstract
Relative center of gravity height in a motor vehicle changes from a nominal value to an actual value depending upon vehicle loading. Method and apparatus for determining actual relative center of gravity height are disclosed.
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Citations
19 Claims
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1. Method for determining relative CG height in a vehicle, comprising:
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monitoring a nominal relative CG height value; sensing vehicle roll; determining a plurality of CG height candidates at a plurality of instances based upon vehicle dynamics data collected during the vehicle roll; and estimating relative CG height based on the nominal relative CG height value and selective updates based upon the plurality of CG height candidates. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. Method for determining relative CG height in a vehicle, comprising:
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monitoring a vehicle dynamics state; monitoring an initial value of relative CG height estimate; monitoring an initial state of relative CG height; determining a plurality of CG height candidates based on the initial value of relative CG height estimate, the initial state of relative CG height, and an initial searching range parameter for CG height candidates; estimating a vehicle dynamic state corresponding to the CG height candidates; determining innovations of each vehicle dynamics state estimate with respect to the sensed vehicle dynamics state; updating the value of relative CG height estimate with one of the CG height candidates corresponding to a lowest innovation of the determined innovation among all CG height candidates; reducing the searching range parameter for CG height candidates; and updating the state of relative CG height based on the initial state of relative CG height and the updated value of relative CG height estimate. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18)
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19. Apparatus for determining relative CG height in a vehicle, comprising:
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a plurality of vehicle dynamics sensors adapted to provide vehicle dynamics data; a controller adapted to receive the vehicle dynamics data and including a computer readable storage medium storing computer code adapted for determining relative CG height of the vehicle based on said vehicle dynamics data, said computer code including programming to; monitor a nominal relative CG height value; sense vehicle roll; determine a plurality of CG height candidates at a plurality of instances based upon vehicle dynamics data collected during the vehicle roll; and estimate relative CG height based on the nominal relative CG height value and selective updates based upon the plurality of CG height candidates.
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Specification