GPS based pitch sensing for an integrated stability control system
First Claim
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1. A pitch sensing system including pitch computation used by an integrated stability control system of a motor vehicle, the system comprising:
- a GPS receiver for acquiring global vehicle velocities in three dimensions that are east, north and down directions in a local plane tangent to the earth'"'"'s surface; and
a pitch computation estimated, in a controller, using the global vehicle velocities and provided as an input to the integrated stability control system, the pitch computation further comprises a pitch angle computation and a pitch rate computation.
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Abstract
A system and method for sensing vehicle global pitch angle and rate that uses global velocities measured from a single antenna global positioning system (GPS) receiver together with sensor fusion algorithms involving sensor signals and other computed signals. This constructed, or computed, vehicle body'"'"'s pitch angle may replace the role of a pitch rate sensor in an integrated stability control system. Namely, it achieves enhanced vehicle state estimation without the need for a pitch rate sensor.
47 Citations
22 Claims
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1. A pitch sensing system including pitch computation used by an integrated stability control system of a motor vehicle, the system comprising:
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a GPS receiver for acquiring global vehicle velocities in three dimensions that are east, north and down directions in a local plane tangent to the earth'"'"'s surface; and a pitch computation estimated, in a controller, using the global vehicle velocities and provided as an input to the integrated stability control system, the pitch computation further comprises a pitch angle computation and a pitch rate computation. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. An integrated stability control system for a motor vehicle having a GPS receiver capable of acquiring three-dimensional vehicle velocity measurements, the integrated stability control system comprising:
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a single roll rate sensor for providing a roll rate signal indicative of a roll rate of the motor vehicle; a pitch computation indicative of the vehicle pitch angle and pitch rate as it is estimated in a controller using at least the three-dimensional vehicle velocity measurements acquired from the GPS receiver in east, north and down directions in a local plane tangent to the earth'"'"'s surface; and the controller using at least the roll rate signal and the pitch angle signal for integrated stability control. - View Dependent Claims (10, 11, 12)
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13. A method for estimating a pitch computation of a motor vehicle having a GPS receiver and at least one stability control system, the method comprising the steps of:
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acquiring three dimensional global vehicle velocity measurements in east, north and down directions in a local plane tangent to the earth'"'"'s surface from the GPS receiver; estimating, in a controller, a pitch angle and pitch rate of a vehicle using the three-dimensional global vehicle velocity measurements; inputting the estimated pitch angle and pitch rate to the stability control system. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22)
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Specification