Method and device for estimating the height of the center of gravity of a vehicle
First Claim
1. A method for estimating the height of the center of gravity of a vehicle, using a device in communication with one or more sensors or detectors, the method comprising:
- determining a lateral acceleration of the vehicle;
detecting a predefined first driving situation at a first point in time as a function of a determined roll rate or of a determined roll angle of the vehicle;
detecting a predefined second driving situation at a second point in time as a function of the determined roll rate or of the determined roll angle of the vehicle;
determining a differential angle by means of which a vehicle body of the vehicle tilts during a period of time, with the period of time being delimited by the first and the second point in time;
determining an angular speed of the tilting in a period of time;
determining an angular acceleration of the tilting in a period of time;
determining if the vehicle is carrying out a quasi-stationary trip by comparing a difference between a recorded first acceleration signal, which exhibits at least one acceleration component vertical to a vertical axis of the vehicle and a second acceleration signal that comprises the filtered first acceleration signal with a predefined limit value to determine whether or not the amount of the difference is below the predefined limit value; and
estimating the height of a center of gravity of the vehicle based on an equation of motion as a function of the lateral acceleration, of the differential angle, of the angular speed and of the angular acceleration when no quasi-stationary circular trip is detected.
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Abstract
In a method for estimating the height of the center of gravity of a vehicle, a lateral acceleration is determined. Predefined first and second driving situation are detected at a first time as a function of a determined roll rate or of a determined roll angle and at a second time as a function of the roll rate or of the roll angle. In a time period delimited by the first and second times, a differential angle by which a vehicle body tilts during the time period is determined. Also determined are an angular speed: formula and an angular acceleration: formula of the vehicle tilting movement in the time period. A height of the center of gravity of the vehicle is estimated on the basis of an equation of motion as a function of the lateral acceleration, of the differential angle, of the angular speed: formula and of the angular acceleration: formula.
18 Citations
20 Claims
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1. A method for estimating the height of the center of gravity of a vehicle, using a device in communication with one or more sensors or detectors, the method comprising:
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determining a lateral acceleration of the vehicle; detecting a predefined first driving situation at a first point in time as a function of a determined roll rate or of a determined roll angle of the vehicle; detecting a predefined second driving situation at a second point in time as a function of the determined roll rate or of the determined roll angle of the vehicle; determining a differential angle by means of which a vehicle body of the vehicle tilts during a period of time, with the period of time being delimited by the first and the second point in time; determining an angular speed of the tilting in a period of time; determining an angular acceleration of the tilting in a period of time; determining if the vehicle is carrying out a quasi-stationary trip by comparing a difference between a recorded first acceleration signal, which exhibits at least one acceleration component vertical to a vertical axis of the vehicle and a second acceleration signal that comprises the filtered first acceleration signal with a predefined limit value to determine whether or not the amount of the difference is below the predefined limit value; and estimating the height of a center of gravity of the vehicle based on an equation of motion as a function of the lateral acceleration, of the differential angle, of the angular speed and of the angular acceleration when no quasi-stationary circular trip is detected. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 13, 14, 15, 16, 17)
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9. A method for estimating the height of the center of gravity of a vehicle using a device in communication with one or more sensors or detectors, comprising:
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determining a lateral acceleration of the vehicle; detecting a predefined first driving situation at a first point in time as a function of a determined roll rate or of a determined roll angle of the vehicle; detecting a predefined second driving situation at a second point in time as a function of the determined roll rate or of the determined roll angle of the vehicle; determining a differential angle by means of which a vehicle body of the vehicle tilts during a period of time, with the period of time being delimited by the first and the second point in time; determining an angular speed of the tilting in a period of time; determining an angular acceleration of the tilting in a period of time; and estimating the height of a center of gravity of the vehicle based on an equation of motion as a function of the lateral acceleration, of the differential angle, of the angular speed and of the angular acceleration; and detecting as a function of a recorded operating value whether or not the vehicle is carrying out a quasi-stationary circular trip, and estimating the height of the center of gravity is only carried out when no quasi-stationary circular trip is detected; wherein recording the quasi-stationary circular trip comprises comparing the difference between a recorded first acceleration signal, which exhibits at least one acceleration component vertical to a vertical axis of the vehicle and a second acceleration signal that comprises the filtered first acceleration signal with a predefined limit value to determine whether or not the amount of the difference is below the predefined limit value. - View Dependent Claims (10, 11, 12)
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18. A device for estimating the height of the center of gravity of a vehicle comprising:
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a sensor configured to determine a lateral acceleration of the vehicle, wherein the device is configured to determine if the vehicle is in a quasi-stationary circular trip by comparing the lateral acceleration with a filtered lateral acceleration; a detector configured to detect a predefined first driving situation at a first point in time as a function of a determined roll rate or of a determined roll angle of the vehicle and to detect a predefined second driving situation at a second point in time as a function of the determined roll rate or of the determined roll angle of the vehicle; a roll angle unit configured to determine a differential angle that tilts a vehicle body of the vehicle in a period of time, with the period of time being delimited by the first and the second point in time; a roll rate unit configured to determine an angular speed of the tilting in the period of time; a roll acceleration unit configured to determine an angular acceleration of the tilting in the period of time; and an estimation unit, which is configured to estimate the height of the center of gravity of the vehicle on the basis of an equation of motion as a function of the lateral acceleration, of the differential angle, of the angular speed and of the angular acceleration when no quasi-stationary circular trip is detected. - View Dependent Claims (19, 20)
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Specification