Banked curve detection using vertical and lateral acceleration

• US 9,168,950 B1
• Filed: 09/19/2014
• Issued: 10/27/2015
• Est. Priority Date: 09/19/2014
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH, Robert Bosch LLC (Robert Bosch GmbH)
• Original Assignee: Robert Bosch GmbH
• Inventors: Chanda, Hirak, Kowalewski, Marcin
• Primary Examiner(s): Nguyen, Cuong H
• Application Number:
  US14/490,796
• Time in Patent Office: 403 Days
• Field of Search: 701 36- 38, 701/41, 104/284, 280/5.502, 280/5.509, 280/6.16
• US Class Current: 1/1
• CPC Class Codes: B60G 21/007 means for adjusting the wheel inclination
• CPC Class Codes: B60G 2400/252 vertical
• CPC Class Codes: B60T 2210/22 Banked curves
• CPC Class Codes: B60T 8/17551 determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 30/02 Control of vehicle driving stability
• CPC Class Codes: B60W 40/06 Road conditions
• CPC Class Codes: B62D 9/02 combined with means for inwardly inclining vehicle body on bends

Abstract

A banked curve detection system determines the presence of a vehicle on a banked curve by sensing a vertical acceleration and a lateral acceleration of a vehicle. A banked curve is determined when the vertical acceleration and lateral acceleration are each greater than previously sensed vertical and lateral accelerations, the lateral acceleration is less than an expected reference lateral acceleration value, and the vertical acceleration is greater than gravity. The reference lateral acceleration value is based on yaw rate, steering angle, and wheel speed. When the acceleration conditions are met, the electronic stability control adjusts the parameters due to the vehicle being driven on a banked curve. Once the acceleration condition is no longer valid, the electronic stability control returns to normal operation.

Claims

1. A method for determining that a vehicle is entering a banked curve, comprising:

determining a reference lateral acceleration value for the vehicle based on parameters that do not include lateral acceleration;

sensing a vertical acceleration for the vehicle;

sensing a lateral acceleration for the vehicle; and

determining and indicating that the vehicle is entering a banked curve by;

determining whether the vertical acceleration is greater than a previous vertical acceleration and whether the lateral acceleration is greater than a previous lateral acceleration;

determining whether the vertical acceleration is greater than a constant vertical acceleration value;

determining whether the lateral acceleration is less than a threshold percentage of the reference lateral acceleration value; and

providing a banked curve signal indicating that the vehicle is entering a banked turn when;

     1) the sensed vertical and lateral acceleration are greater than the previously sensed vertical and lateral acceleration,

     2) the vertical acceleration is greater than the constant vertical acceleration value, and

     3) the lateral acceleration is less than the threshold percentage of the reference lateral acceleration value.

2. The method according to claim 1, wherein the parameters for determining the reference lateral acceleration value comprise yaw rate, steering angle and wheel speed values of the vehicle.

3. The method according to claim 2, including:

receiving the yaw rate from a yaw rate sensor provided on the vehicle;

receiving the steering angle from a steering angle sensor provided on the vehicle; and

receiving the wheel speed values for the wheels of the vehicle from wheel speed sensors.

4. The method according to claim 1, wherein the constant vertical acceleration is about 9.8 meters/second².

5. The method according to claim 1, comprising repeating the steps of:

shifting the vertical acceleration and the lateral acceleration when new vertical acceleration and new lateral acceleration are sensed;

determining whether the new vertical acceleration is greater than the shifted vertical acceleration and whether the new lateral acceleration is greater than the shifted lateral acceleration;

determining whether the new vertical acceleration signal is greater than the constant vertical acceleration value;

determining whether the new lateral acceleration is less than a threshold percentage of the reference lateral acceleration value; and

providing the banked curve signal when;

     1) the new vertical and lateral acceleration are greater than the shifted vertical and lateral acceleration,

     2) the new vertical acceleration is greater than the constant vertical acceleration value, and

     3) the new lateral acceleration is less than the threshold percentage of the reference lateral acceleration value, occur a predetermined number of times.

6. The method according to claim 5, wherein each of:

1) the new vertical and lateral acceleration being greater than the shifted vertical and lateral acceleration,

     2) the new vertical acceleration being greater than the constant vertical acceleration value, and

     3) the new lateral acceleration being less than the threshold percentage of the reference lateral acceleration value must occur N2 times more than;

times that either or both of the vertical acceleration value being less than the constant vertical acceleration value, and the new lateral acceleration being less than the threshold percentage of the reference lateral acceleration value, occurs.

7. The method according to claim 6, wherein the threshold percentage is about 70% and N2 comprises at least four times.

8. The method according to claim 6, wherein n is an integer value stored in a counter of a processor, and wherein the method includes the step of initializing n to zero in the counter before beginning an algorithm to execute the method, and wherein the processor executes method the steps.

9. The method according to claim 5, including determining the reference lateral acceleration value each time that the vertical acceleration and the lateral acceleration are shifted.

10. A banked curve detection system for determining operation of a vehicle in a banked curve to maintain operation of an electronic stability control, the system comprising:

a vertical acceleration sensor secured to the vehicle for sensing a vertical acceleration of the vehicle;

a lateral acceleration sensor secured to the vehicle for sensing a lateral acceleration of the vehicle; and

a processor and a memory, the memory storing instructions that, when executed by the processor, cause the system to;

determine a reference lateral acceleration value for the vehicle based on parameters that do not include lateral acceleration;

determine whether the vertical acceleration is greater than a previous vertical acceleration and whether the lateral acceleration is greater than a previous lateral acceleration;

determine whether the vertical acceleration is greater than a constant vertical acceleration value;

determine whether the lateral acceleration is less than a threshold percentage of the reference lateral acceleration value; and

provide a banked curve signal indicating that the vehicle is entering or on a banked turn when;

     1) the sensed vertical and lateral acceleration are greater than the previously sensed vertical and lateral acceleration,

     2) the vertical acceleration is greater than the constant vertical acceleration value, and

     3) the lateral acceleration is less than the threshold percentage of the reference lateral acceleration value.

11. The system according to claim 10, further comprising:

a yaw rate sensor for sensing a yaw rate for the vehicle;

a steering angle sensor for sensing a steering angle for the vehicle; and

wheel speed sensors for sensing wheel speed values,

wherein the reference lateral acceleration value is determined by the processor and the memory based on the yaw rate, the steering angle and the wheel speeds.

12. The system according to claim 10, wherein the processor executes instructions that shift the vertical acceleration and the lateral acceleration when a new vertical acceleration and a new lateral acceleration are sensed, wherein the new vertical acceleration is compared with the shifted vertical acceleration and the new lateral acceleration is compared with the shifted lateral acceleration for determining whether a banked curve signal is provided.

13. The system according to claim 10, wherein the threshold percentage is about 70% and the constant vertical acceleration value is about 9.8 meters/second².

14. The system according to claim 12, wherein the processor provides the banked curve signal when the new vertical acceleration and the new lateral acceleration are greater than the shifted vertical acceleration and the shifted lateral acceleration N2 times.

15. The system according to claim 14, wherein N2 equals at least 4, the threshold percentage is about 70% and the constant vertical acceleration value is about 9.8 meters/second².

16. A method for determining that a vehicle is entering a banked curve, comprising:

determining a reference lateral acceleration value for the vehicle based on parameters that do not include lateral acceleration and include steering angle;

sensing a vertical acceleration for the vehicle and shifting the vertical acceleration and sensing another vertical acceleration;

sensing a lateral acceleration for the vehicle and shifting the lateral acceleration and sensing another lateral acceleration; and

determining whether the sensed vertical acceleration is greater than the previously shifted vertical acceleration and whether the lateral acceleration is greater than the previously shifted lateral acceleration;

determining whether the vertical acceleration is greater than a constant vertical acceleration value;

determining whether the lateral acceleration is less than a threshold percentage of the reference lateral acceleration value;

incrementing a counter when

     1) the sensed vertical and lateral acceleration are greater than the shifted vertical and lateral acceleration,

     2) the sensed vertical acceleration is greater than the constant vertical acceleration value, and

     3) the sensed lateral acceleration is less than the threshold percentage of the reference lateral acceleration value; and

decrementing the counter when at least one of the sensed vertical acceleration is not greater than the constant vertical acceleration value and the sensed lateral acceleration is not less than or equal to the threshold percentage of the reference lateral acceleration value, occurs.

17. The method according to claim 16, including setting a flag indicating that the vehicle is in a banked curve when the incremented value of the counter is greater than N2.

18. The method according to claim 16, including setting a flag indicating that the vehicle is not in a banked curve when the incremented value of the counter is less than N1.

19. The method according to claim 16, including:

receiving a yaw rate from a yaw rate sensor provided on the vehicle;

receiving the steering angle from a steering angle sensor provided on the vehicle; and

receiving the wheel speed values for the wheels of the vehicle from wheel speed sensors,

wherein the step of determining the reference lateral acceleration value for the vehicle is based on the steering angle, the yaw rate, and the wheel speed values of the vehicle.

20. The method according to claim 17, wherein N2 equals at least 4, the threshold percentage is about 70% and the constant vertical acceleration value is about 9.8 meters/second².