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Body state estimation of a vehicle

  • US 7,831,354 B2
  • Filed: 03/23/2004
  • Issued: 11/09/2010
  • Est. Priority Date: 03/23/2004
  • Status: Expired due to Fees
First Claim
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1. A system for estimating body states of a vehicle comprising:

  • a first linear accelerometer and a second linear accelerometer mounted to the vehicle in separate locations from each other, the first and second linear accelerometers being configured to measure the acceleration of the vehicle in a first direction and generate measured first and second linear acceleration signals based on the acceleration of the vehicle in the first direction, the measured first and second linear acceleration signals defining a first set of linear acceleration signals;

    a third linear accelerometer and a fourth linear accelerometer mounted to the vehicle in separate locations from each other, the third and fourth linear accelerometers being configured to measure the acceleration of the vehicle in a second direction and generate measured third and fourth linear acceleration signals based on the acceleration of the vehicle in the second direction, wherein the second direction is different from the first direction, the measured third and fourth linear acceleration signals defining a second set of linear acceleration signals;

    a signal adjuster configured to transform the first and second sets of linear acceleration signals from a sensor coordinate system to a body coordinate system associated with the vehicle; and

    an estimating filter configured to receive the transformed first and second sets of linear acceleration signals from the signal adjuster and process at least one of the transformed first and second sets of linear acceleration signals into at least one of a roll rate, a roll angle and a yaw rate, based on at least one of the following equations;


    Ay,meas=ÿ

    v+{dot over (r)}vdxtoYA+{umlaut over (θ

    )}vdztoRA+rvu;





    a)
    Az,meas=−

    g+{umlaut over (θ

    )}
    vdytoRA; and





    b)
    Ax,meas=−

    {dot over (r)}
    vdytoYA,  



    c)where;

    Ax,meas=acceleration in an x-direction;

    Ay,meas=acceleration in a y-direction;

    Az,meas=acceleration in a z-direction;

    ÿ

    v=lateral acceleration of the vehicle;

    {dot over (r)}v=angular acceleration about a yaw axis of the vehicle;

    dxtoYA=the distance along the x axis from one of the linear accelerometers to the yaw axis of the vehicle;

    {umlaut over (θ

    )}v=angular acceleration about a roll axis of the vehicle;

    dztoRA=the distance along the z axis from one of the linear accelerometers to the roll axis of the vehicle;

    rv=yaw rate of the vehicle;

    u=longitudinal vehicle speed;

    g=gravitational acceleration;

    dytoRA=the distance along the y axis from one of the linear accelerometers to the roll axis of the vehicle; and

    dytoYA=the distance along the y axis from one of the linear accelerometers to the yaw axis.

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