Identification of vehicle CG height and mass for roll control
First Claim
1. A method for determining vehicle center of gravity height and vehicle mass, said method comprising:
- selecting a set of vehicle parameters to be considered that includes the vehicle mass and the center of gravity height;
generating frequency responses using a predetermined model for a plurality of different values for the selected vehicle parameters, and storing the generated frequency responses for the selected parameters;
calculating frequency responses for a measured vehicle lateral acceleration to a roll angle and/or a roll rate of the vehicle;
comparing the generated frequency responses and the calculated frequency responses to determine which of the generated frequency responses more closely matches the calculated frequency responses; and
selecting the generated frequency responses that most closely match the calculated frequency responses to determine the center of gravity height and the vehicle mass.
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Abstract
A system and method for determining vehicle CG height and mass in real-time. The method includes selecting a set of vehicle parameters to be considered that includes the vehicle mass and the center of gravity height of the vehicle. Frequency responses are generated using the dynamic model and a plurality of different values for the selected vehicle parameters. During vehicle operation, frequency responses are calculated from a measured vehicle lateral acceleration to a roll angle and/or a roll rate of the vehicle. The generated frequency responses and the calculated frequency responses are compared to determine which of the generated frequency responses more closely matches the calculated frequency responses. The generated frequency responses that most closely match the calculated frequency responses are used to determine the center of gravity height and the vehicle mass from the values for the vehicle parameters.
15 Citations
20 Claims
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1. A method for determining vehicle center of gravity height and vehicle mass, said method comprising:
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selecting a set of vehicle parameters to be considered that includes the vehicle mass and the center of gravity height; generating frequency responses using a predetermined model for a plurality of different values for the selected vehicle parameters, and storing the generated frequency responses for the selected parameters; calculating frequency responses for a measured vehicle lateral acceleration to a roll angle and/or a roll rate of the vehicle; comparing the generated frequency responses and the calculated frequency responses to determine which of the generated frequency responses more closely matches the calculated frequency responses; and selecting the generated frequency responses that most closely match the calculated frequency responses to determine the center of gravity height and the vehicle mass. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method for determining vehicle center of gravity height and vehicle mass, said method comprising:
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selecting the vehicle center of gravity height, the vehicle mass and a moment of inertia as vehicle parameters to be considered; generating frequency responses using a one degree-of-freedom vehicle model for a plurality of different values for the selected vehicle parameters for both vehicle roll angle and roll rate, and storing the generated frequency responses for the selected parameters; calculating frequency responses from a measured vehicle lateral acceleration to a measured or estimate roll angle and/or roll rate of the vehicle during vehicle operation; comparing the generated frequency responses and the calculated frequency responses to determine which of the generated frequency responses more closely matches the calculated frequency responses; and selecting the generated frequency responses that most closely match the calculated frequency responses and using the values of the selected vehicle parameters to determine the center of gravity height and the vehicle mass. - View Dependent Claims (12, 13, 14, 15, 16, 17)
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18. A method for determining vehicle center of gravity height and vehicle mass, said method comprising:
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generating frequency responses using a predetermined model for a plurality of different values for the vehicle center of gravity height and the vehicle mass; calculating frequency responses for a measured vehicle lateral acceleration to a roll angle and/or a roll rate of the vehicle; and comparing the generated frequency responses and the calculated frequency responses to determine which of the generated frequency responses more closely matches the calculated frequency responses to determine the center of gravity height and the vehicle mass. - View Dependent Claims (19, 20)
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Specification