Vehicle yaw rate estimation system

• US 9,764,744 B2
• Filed: 02/24/2016
• Issued: 09/19/2017
• Est. Priority Date: 02/25/2015
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Bajpai, Devendra
• Primary Examiner(s): Troost, Aaron L
• Application Number:
  US15/051,825
• Publication Number:
  US 20160244069A1
• Time in Patent Office: 573 Days
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2520/28 Wheel speed
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 40/114 Yaw movement

Abstract

A yaw rate estimation system for a vehicle includes a control receiving inputs indicative of (i) a first yaw rate determined by a yaw rate sensor of the vehicle, (ii) a second yaw rate derived from ABS wheel sensors of the vehicle, (iii) a third yaw rate derived from a lateral acceleration of the vehicle and (iv) a fourth yaw rate derived from a steering wheel angle, wheel angle and rate of change of steering wheel angle. The control is operable to process the inputs to estimate the yaw rate of the vehicle, with the estimated yaw rate derived from the inputs.

Claims

1. A yaw rate estimation system for a vehicle, said yaw rate estimation system comprising:

a yaw rate sensor disposed at a vehicle equipped with said yaw rate estimation system;

wheel sensors disposed at wheels of the equipped vehicle;

an acceleration sensor disposed at the equipped vehicle and operable to determine lateral acceleration of the equipped vehicle;

a steering wheel angle sensor disposed at the equipped vehicle and operable to determine an angle of a steering wheel of the equipped vehicle;

a control system disposed at the equipped vehicle and receiving inputs indicative of (i) a first yaw rate determined by said yaw rate sensor of the equipped vehicle, (ii) a second yaw rate derived from said wheel sensors of the equipped vehicle, (iii) a third yaw rate derived from a lateral acceleration of the equipped vehicle as determined by said acceleration sensor, and (iv) a fourth yaw rate derived from a steering wheel angle, wheel angle and rate of change of steering wheel angle as determined by said steering wheel angle sensor; and

wherein said control system processes said inputs to estimate the actual yaw rate of the equipped vehicle, and wherein the estimated actual yaw rate is derived from said inputs.

2. The yaw rate estimation system of claim 1, wherein said control system processes said inputs to estimate the actual yaw rate of the equipped vehicle without use of image data captured by a forward viewing camera.

3. The yaw rate estimation system of claim 1, wherein said control system is operable to estimate the actual yaw rate of the equipped vehicle using statistical estimation and analysis of said first, second, third and fourth yaw rates.

4. The yaw rate estimation system of claim 3, wherein said control system is operable to provide an adaptive offset estimation using Recursive Least Squares and Confidence Weighted Average combined with Recursive Least Squares.

5. The yaw rate estimation system of claim 1, wherein said wheel sensors comprise wheel sensors of an anti-lock brake system of the equipped vehicle, and wherein said second yaw rate is derived from said anti-lock brake system wheel sensors of the equipped vehicle.

6. The yaw rate estimation system of claim 1, wherein said yaw rate sensor is operable to sense the left and right yaw rate of the equipped vehicle.

7. The yaw rate estimation system of claim 1, wherein said yaw rate sensor is operable to sense positive and negative angular rotational velocity of the equipped vehicle about a local vertical axis of the equipped vehicle.

8. The yaw rate estimation system of claim 1, wherein output of said yaw rate sensor is communicated to said control system via a communication bus of the equipped vehicle.

9. The yaw rate estimation system of claim 1, wherein said control system, responsive to estimation of the actual yaw rate, provides yaw rate offset correction to correct said first yaw rate.

10. The yaw rate estimation system of claim 1, wherein said control system, responsive to estimation of the actual yaw rate, provides noise filtering for said input from said yaw rate sensor.

11. A yaw rate estimation system for a vehicle, said yaw rate estimation system comprising:

a yaw rate sensor disposed at a vehicle equipped with said yaw rate estimation system;

wheel sensors disposed at wheels of the equipped vehicle;

an acceleration sensor disposed at the equipped vehicle and operable to determine lateral acceleration of the equipped vehicle;

a steering wheel angle sensor disposed at the equipped vehicle and operable to determine an angle of a steering wheel of the equipped vehicle;

a control system disposed at the equipped vehicle and receiving inputs indicative of a first yaw rate determined by said yaw rate sensor of the equipped vehicle and receiving inputs indicative of at least two of (i) a second yaw rate derived from said wheel sensors of the equipped vehicle, (ii) a third yaw rate derived from a lateral acceleration of the equipped vehicle as determined by said acceleration sensor and (iii) a fourth yaw rate derived from a steering wheel angle, wheel angle and rate of change of steering wheel angle as determined by said steering wheel angle sensor; and

wherein said control system processes said inputs to estimate the actual yaw rate of the equipped vehicle, and wherein the estimated actual yaw rate is derived from said inputs.

12. The yaw rate estimation system of claim 11, wherein said control system processes said inputs to estimate the actual yaw rate of the equipped vehicle without use of image data captured by a forward viewing camera.

13. The yaw rate estimation system of claim 11, wherein said control system is operable to estimate the actual yaw rate of the equipped vehicle using statistical estimation and analysis of said first yaw rate and said at least two of said second, third and fourth yaw rates.

14. The yaw rate estimation system of claim 11, wherein output of said yaw rate sensor is communicated to said control system via a communication bus of the equipped vehicle.

15. The yaw rate estimation system of claim 11, wherein said control system, responsive to estimation of the actual yaw rate, provides yaw rate offset correction to correct said first yaw rate.

16. The yaw rate estimation system of claim 11, wherein said control system, responsive to estimation of the actual yaw rate, provides noise filtering for said input from said yaw rate sensor.

17. The yaw rate estimation system of claim 11, wherein said control system, responsive to estimation of the actual yaw rate, provides enhanced resolution of said input indicative of said first yaw rate.

18. A yaw rate estimation system for a vehicle, said yaw rate estimation system comprising:

a yaw rate sensor disposed at a vehicle equipped with said yaw rate estimation system;

wheel sensors disposed at wheels of the equipped vehicle;

an acceleration sensor disposed at the equipped vehicle and operable to determine lateral acceleration of the equipped vehicle;

a steering wheel angle sensor disposed at the equipped vehicle and operable to determine an angle of a steering wheel of the equipped vehicle;

a control system disposed at the equipped vehicle and receiving inputs indicative of (i) a first yaw rate determined by said yaw rate sensor of the equipped vehicle, (ii) a second yaw rate derived from said wheel sensors of the equipped vehicle, (iii) a third yaw rate derived from a lateral acceleration of the equipped vehicle as determined by said acceleration sensor and (iv) a fourth yaw rate derived from a steering wheel angle, wheel angle and rate of change of steering wheel angle as determined by said steering wheel angle sensor;

wherein said control system receives at least some of said inputs via a communication bus of the equipped vehicle;

wherein said control system processes said inputs to estimate the actual yaw rate of the equipped vehicle, and wherein the estimated actual yaw rate is derived from said inputs; and

wherein said control system is operable to estimate the actual yaw rate of the equipped vehicle using statistical estimation and analysis of said inputs indicative of said first, second, third and fourth yaw rates.

19. The yaw rate estimation system of claim 18, wherein said control system processes said inputs to estimate the actual yaw rate of the equipped vehicle without use of image data captured by a forward viewing camera.

20. The yaw rate estimation system of claim 18, wherein said control system, responsive to estimation of the actual yaw rate, provides at least one of (i) yaw rate offset correction to correct said first yaw rate, (ii) noise filtering for said input from said yaw rate sensor and (iii) enhanced resolution of said input indicative of said first yaw rate.