System for estimating vehicle states for rollover reduction
First Claim
1. A system for estimating vehicle states of yaw-rate, roll-rate, roll angle and lateral velocity, said system comprising:
- a steering angle sensor providing a steering angle signal of a steering angle of the vehicle;
a yaw-rate sensor for providing a yaw-rate signal of the yaw-rate of the vehicle;
a roll-rate sensor for providing a roll-rate signal of the roll-rate of the vehicle;
a speed sensor for providing a speed signal of the speed of the vehicle;
a lateral acceleration sensor for providing a lateral acceleration signal of the lateral acceleration of the vehicle;
a Kalman filter observer responsive to the steering angle signal, the yaw-rate signal, the roll-rate signal, the speed signal and the lateral acceleration signal, said observer using Kalman filtering to provide an estimated yaw-rate signal, an estimated roll-rate, an estimated roll angle and an estimated lateral acceleration; and
a lateral velocity estimation processor responsive to the roll-rate signal, the estimated roll angle signal, the estimated lateral velocity signal and the lateral acceleration signal, said lateral velocity estimation processor calculating a modified lateral velocity estimation signal when the vehicle is operating in a non-linear region.
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Abstract
A system and method for estimating vehicle states, such as vehicle roll-rate, vehicle roll angle, vehicle lateral velocity and vehicle yaw-rate, for use in rollover reduction. The system includes an extended Kalman filter observer responsive to a steering angle signal, a yaw-rate signal, a roll-rate signal, a speed signal and a lateral acceleration signal that calculates an estimated yaw-rate signal, an estimated roll-rate, an estimated roll angle and an estimated lateral velocity. The system also includes a lateral velocity estimation processor responsive to the roll-rate signal, the estimated roll angle signal, the estimated lateral velocity signal and the lateral acceleration signal that calculates a modified lateral velocity estimation signal when the vehicle is operating in a non-linear region.
20 Citations
22 Claims
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1. A system for estimating vehicle states of yaw-rate, roll-rate, roll angle and lateral velocity, said system comprising:
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a steering angle sensor providing a steering angle signal of a steering angle of the vehicle; a yaw-rate sensor for providing a yaw-rate signal of the yaw-rate of the vehicle; a roll-rate sensor for providing a roll-rate signal of the roll-rate of the vehicle; a speed sensor for providing a speed signal of the speed of the vehicle; a lateral acceleration sensor for providing a lateral acceleration signal of the lateral acceleration of the vehicle; a Kalman filter observer responsive to the steering angle signal, the yaw-rate signal, the roll-rate signal, the speed signal and the lateral acceleration signal, said observer using Kalman filtering to provide an estimated yaw-rate signal, an estimated roll-rate, an estimated roll angle and an estimated lateral acceleration; and a lateral velocity estimation processor responsive to the roll-rate signal, the estimated roll angle signal, the estimated lateral velocity signal and the lateral acceleration signal, said lateral velocity estimation processor calculating a modified lateral velocity estimation signal when the vehicle is operating in a non-linear region. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A system for estimating vehicle states, said system comprising:
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a plurality of sensors for measuring vehicle states and providing sensor signals; a Kalman filter observer responsive to sensor signals, said observer providing estimated vehicle states; and a lateral velocity estimation processor responsive to some of the sensor signals and some of the estimated vehicle states, said lateral velocity estimation processor calculating a modified lateral velocity estimation signal when the vehicle is operating in a non-linear region. - View Dependent Claims (12, 13, 14, 15, 16, 17)
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18. A system for estimating vehicle states, said system comprising:
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a plurality of sensors for measuring vehicle states and providing sensor signals; and a Kalman filter observer responsive to sensor signals, said observer providing estimated vehicle states, said Kalman filter observer changing a covariance matrix in the filter when the vehicle goes from a linear to a non-linear operating region. - View Dependent Claims (19)
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20. A system for estimating vehicle states, said system comprising:
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a plurality of sensors for measuring vehicle states and providing sensor signals; a sensor pre-filtering processor responsive to the sensor signals, said sensor pre-filtering processor filtering out a low-frequency component of the signals, and estimating a sensor bias based on the low-frequency component; and a Kalman filter observer responsive to filtered sensor signals, said observer providing estimated vehicle states. - View Dependent Claims (21, 22)
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Specification