Kinematic estimator for vehicle lateral velocity using force tables
First Claim
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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Abstract
A system and method for estimating vehicle lateral velocity. The method uses a kinematic estimator constructed as a closed-loop Leunberger observer. The kinematic estimator is based on a kinematic relationship between lateral acceleration measurement and rate of change of lateral velocity. The method provides 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. The method calculates front and rear axle lateral forces from the lateral acceleration and yaw-rate measurements. The method estimates front and rear axle side-slip angles from the calculated front and rear axle lateral forces using the tables. The method calculates multiple virtual lateral velocities from the front and rear side-slip angles and selects 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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Citations
20 Claims
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1. A method for estimating vehicle lateral velocity, said method comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method for estimating vehicle lateral velocity, said method comprising:
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constructing a kinematic estimator as a closed-loop Leunberger observer; providing vehicle measurements including vehicle lateral acceleration, vehicle yaw-rate, longitudinal speed, and steering angle; basing the kinematic estimator on a kinematic relationship between lateral acceleration measurements and a rate of change of lateral velocity; calculating virtual lateral velocities using front and rear axle lateral forces versus side-slip angle tables using the measured lateral acceleration, yaw-rate, longitudinal speed, and steering angle; 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 side-slip angles; selecting one of the virtual lateral velocities that minimizes an error between a measured force and an estimated force as the lateral velocity; and adaptively changing observer gains based on the lateral forces and a difference between the measured front and rear axle lateral velocities. - View Dependent Claims (10, 11, 12, 13)
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14. A system for estimating vehicle lateral velocity, said system comprising:
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means for providing vehicle measurements including vehicle lateral acceleration, vehicle yaw-rate, longitudinal speed, and steering angle; means for defining a kinematic relationship between vehicle lateral acceleration measurements and a rate of change of lateral velocity; means for 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; means for calculating front and rear axle lateral forces from the lateral acceleration and yaw-rate measurements; means for estimating front and rear axle side-slip angles from the calculated front and rear axle lateral forces using the tables; means for calculating multiple virtual lateral velocities from the front and rear side-slip angles; and means for selecting one of the virtual lateral velocities that minimizes an error between a measured force and an estimated force as the lateral velocity. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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Specification