Method for combined determining of a momentary roll angle of a motor vehicle and a momentary roadway cross slope of a curved roadway section traveled by the motor vehicle

• US 9,849,886 B2
• Filed: 10/31/2013
• Issued: 12/26/2017
• Est. Priority Date: 12/20/2012
• Status: Expired due to Fees

• Current Assignee: Daimler AG (Mercedes-Benz Group AG)
• Original Assignee: Daimler AG (Mercedes-Benz Group AG)
• Inventors: Ammon, Dieter, Hainbuch, Claus-Michael, Rau, Magnus
• Primary Examiner(s): Olszewski, John R.
• Assistant Examiner(s): Merlino, David
• Application Number:
  US14/654,419
• Publication Number:
  US 20160001783A1
• Time in Patent Office: 1,517 Days
• Field of Search: None
• CPC Class Codes: B60G 17/0162 mainly during a motion involving steering operation, e.g. cornering, overtaking B60G17/0164 takes precedence
• CPC Class Codes: B60G 2400/0511 Roll angle
• CPC Class Codes: B60G 2400/0523 Yaw rate
• CPC Class Codes: B60G 2400/104 lateral or transversal with regard to vehicle
• CPC Class Codes: B60G 2400/204 Vehicle speed
• CPC Class Codes: B60G 2400/52 in tyre
• CPC Class Codes: B60G 2400/60 Load
• CPC Class Codes: B60G 2800/70 Estimating or calculating vehicle parameters or state variables
• CPC Class Codes: B60G 2800/9123 Active Body Control [ABC]
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2520/18 Roll
• CPC Class Codes: B60W 40/06 Road conditions
• CPC Class Codes: B60W 40/112 Roll movement

Abstract

A method and device for the combined determining of a momentary vehicle roll angle of a motor vehicle and a momentary roadway cross slope of a curved roadway section traveled by the motor vehicle is disclosed. The momentary vehicle roll angle and momentary roadway cross slope are determined from chassis data and transverse dynamics data of the motor vehicle.

Claims

1. A method for combined determining of a momentary vehicle roll angle of a motor vehicle and a momentary roadway cross slope of a curved roadway section traveled by the motor vehicle, comprising the steps of:

receiving a measured momentary transverse acceleration, a measured momentary yaw speed, and a measured momentary speed of the motor vehicle transmitted by a transverse acceleration sensor, a yaw rate sensor, and a speed sensor of the motor vehicle, respectively, at a control device; and

determining the momentary vehicle roll angle and the momentary roadway cross slope by the control device from chassis data and transverse dynamics data of the motor vehicle;

wherein the chassis data comprises a momentary chassis roll angle of a chassis of the motor vehicle and a momentary tire roll angle of tires of the motor vehicle and wherein the transverse dynamics data comprises the measured momentary transverse acceleration of the motor vehicle;

wherein the step of determining the momentary vehicle roll angle includes a step (S1) of calculating the momentary vehicle roll angle (φ

_A) from the measured momentary transverse acceleration (a_y^sensor), the measured momentary speed (v_x) of the motor vehicle, and the measured momentary yaw speed (d/dtΨ

) of the motor vehicle according to the following equation;

φ

_A=(1/g) (a_y^Sensor−

v_x d/dtΨ

),

where g is gravitational acceleration;

wherein the step of determining the momentary roadway cross slope includes calculating the momentary roadway cross slope (φ

_FB) from the momentary vehicle roll angle (φ

_A) calculated in step S1, the momentary chassis roll angle (w), and the momentary tire roll angle (φ

_R) according to the following equation;

φ

_FB=φ

_A−

w−

φ

_R;

wherein the momentary chassis roll angle is determined from a height difference of a momentary height of a left strut of the motor vehicle relative to a momentary height of a right strut of the motor vehicle;

and wherein the momentary tire roll angle of tires is determined from a height difference of a momentary height of a left tire of the motor vehicle relative to a momentary height of a right tire of the motor vehicle.

2. A device for combined determining of a momentary vehicle roll angle of a motor vehicle and a momentary roadway cross slope of a curved roadway section traveled by the motor vehicle, the device comprising:

a transverse acceleration sensor;

a yaw rate sensor;

a speed sensor; and

a control device configured to perform the method of claim 1.