Sideslip angle estimation apparatus and method and automotive vehicle incorporating the same
First Claim
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1. A sideslip angle estimation apparatus for estimating a sideslip angle of a vehicle having a vehicle body, the apparatus comprising:
- a controller including;
an offset angle estimation section operable to estimate an offset angle between a direction of a centrifugal force acting on the vehicle body and a lateral direction of the vehicle body, the centrifugal force being a force exerted on the vehicle body toward an outside from a turning center during a cornering act and the direction of the centrifugal force calculated based on acceleration values detected in two different directions with respect to the vehicle body;
a sideslip angle estimation section operable to estimate a sideslip angle using an integration function incorporating a quantity associated with a running state of the vehicle, the sideslip angle being between a longitudinal direction of the vehicle body and a direction of travel of the vehicle; and
a first feedback compensation section operable to apply feedback compensation to the sideslip angle, the feedback compensation based on applying a variable gain to a difference between the sideslip angle and the offset angle.
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Abstract
In order to enhance the accuracy of estimation of a vehicle'"'"'s sideslip angle, a sideslip angle estimation apparatus calculates an angle between the direction of centrifugal force acting on the vehicle body during cornering and the lateral direction of the vehicle body based on accelerations exerted on the vehicle body and acting in two different directions. A sideslip angle between the longitudinal direction of the vehicle body and the direction of travel of the vehicle is calculated based on the estimated angle.
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Citations
20 Claims
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1. A sideslip angle estimation apparatus for estimating a sideslip angle of a vehicle having a vehicle body, the apparatus comprising:
a controller including; an offset angle estimation section operable to estimate an offset angle between a direction of a centrifugal force acting on the vehicle body and a lateral direction of the vehicle body, the centrifugal force being a force exerted on the vehicle body toward an outside from a turning center during a cornering act and the direction of the centrifugal force calculated based on acceleration values detected in two different directions with respect to the vehicle body; a sideslip angle estimation section operable to estimate a sideslip angle using an integration function incorporating a quantity associated with a running state of the vehicle, the sideslip angle being between a longitudinal direction of the vehicle body and a direction of travel of the vehicle; and a first feedback compensation section operable to apply feedback compensation to the sideslip angle, the feedback compensation based on applying a variable gain to a difference between the sideslip angle and the offset angle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 12, 13, 14, 19, 20)
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9. A sideslip angle estimation apparatus for estimating a sideslip angle of a vehicle, comprising:
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a controller including; a first sideslip angle estimation section operable to estimate a first sideslip angle between a direction of centrifugal force acting on a vehicle body and a lateral direction of the vehicle body based on acceleration values detected in two different directions with respect to the vehicle body; a second sideslip angle estimation section operable to estimate a second sideslip angle between a longitudinal direction of the vehicle body and a direction of travel of the vehicle via an integral calculus operation that utilizes a quantity associated with a running state of the vehicle; a third sideslip angle estimation section operable to estimate a third sideslip angle using direct integration that utilizes the quantity associated with the running state as a parameter; a cornering state detection section that detects a cornering state of the vehicle; and a sideslip angle calculation section operable to calculate the sideslip angle of the vehicle based on the first sideslip angle and the second sideslip angle; wherein the sideslip angle calculation section comprises; a first correction section operable to perform a first feedback correction for the parameter of the third sideslip angle estimation section based on the third sideslip angle and the acceleration values; a second correction section operable to perform a second feedback correction for an integral calculus operation of the third sideslip angle estimation section based on a deviation between the second and third sideslip angles; and a compensation section operable to perform a feedback compensation for the integral calculus operation of the third sideslip angle estimation section based on a deviation between the first and third sideslip angles; wherein the first correction section is further operable to control a weight for the first feedback correction based on the cornering state of the vehicle; wherein the second correction section is further operable to control a weight for the second feedback correction based on the cornering state of the vehicle; and wherein the compensation section is further operable to control a weight for the feedback compensation based on the cornering state of the vehicle; and wherein the sideslip angle calculation section is operable to calculate the sideslip angle of the vehicle based on the first sideslip angle and the second sideslip angle by correcting the third sideslip angle with the first and second correction sections and with the compensation section. - View Dependent Claims (10, 11)
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15. A sideslip angle estimation apparatus for estimating a sideslip angle of a vehicle, comprising:
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first means for detecting a first acceleration in a first direction with respect to a vehicle body; second means for detecting a second acceleration in a second direction with respect to the vehicle body; means for estimating an offset angle between a direction of centrifugal force acting on the vehicle body and a lateral direction of the vehicle body, the centrifugal force being a force exerted on the vehicle body toward an outside from a turning center during a cornering act and the direction of the centrifugal force calculated based on the first acceleration and the second acceleration; means for estimating a sideslip angle using an integration function incorporating a quantity associated with a running state of the vehicle, the sideslip angle being between a longitudinal direction of the vehicle body and a direction of travel of the vehicle; and means for applying feedback compensation to the sideslip angle by applying a variable gain to a difference between the sideslip angle and the offset angle.
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16. A method of estimating a sideslip angle of a vehicle, comprising:
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detecting a first acceleration in a first direction with respect to a vehicle body; detecting a second acceleration in a second direction with respect to the vehicle body; estimating a first sideslip angle between a direction of centrifugal force acting on the vehicle body and a lateral direction of the vehicle body based on the first acceleration and the second acceleration; detecting a third acceleration in a third direction with respect to the vehicle body; detecting a fourth acceleration in a fourth direction with respect to the vehicle body; substituting the third acceleration and the fourth acceleration for the first acceleration and the second acceleration when estimating the first sideslip angle between the direction of the centrifugal force acting on the vehicle body and the lateral direction of the vehicle body when at least one of the first acceleration and the second acceleration is less than or equal to a predetermined acceleration value; and calculating the sideslip angle based on the first sideslip angle. - View Dependent Claims (17, 18)
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Specification