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Kinematic estimator for vehicle lateral velocity using force tables

  • US 8,050,838 B2
  • Filed: 11/24/2008
  • Issued: 11/01/2011
  • Est. Priority Date: 11/24/2008
  • Status: Expired due to Fees
First Claim
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1. A method for estimating vehicle lateral velocity, said method comprising:

  • providing vehicle measurements including vehicle lateral acceleration, vehicle yaw-rate, longitudinal speed, and steering angle;

    defining a kinematic relationship between vehicle lateral acceleration measurements and a rate of change of lateral velocity;

    providing measurement updates based on virtual lateral velocity measurements from front and rear axle lateral force versus axle side-slip angle tables using the lateral acceleration, yaw-rate, longitudinal speed, and steering angle measurements;

    calculating front and rear axle lateral forces from the lateral acceleration and yaw-rate measurements;

    estimating front and rear axle side-slip angles from the calculated front and rear axle lateral forces using the tables;

    calculating multiple virtual lateral velocities from the front and rear axle side-slip angles; and

    selecting one of the virtual lateral velocities that minimizes an error between a measured force and an estimated force as the lateral velocity.

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