Attitude sensing system for an automotive vehicle relative to the road

• US RE40,496 E1
• Filed: 05/20/2004
• Issued: 09/09/2008
• Est. Priority Date: 03/04/2002
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Lu, Jianbo, Brown, Todd Allen
• Primary Examiner(s): Zanelli; Michael J.
• Application Number:
  US10/850,583
• Time in Patent Office: 1,573 Days
• Field of Search: 701 35- 38, 701/45, 702/151, 340/440, 180/271, 180/282
• US Class Current: 701/38
• CPC Class Codes: B60G 17/0185 for failure detection
• CPC Class Codes: B60G 17/0195 characterised by the regulation being combined with other vehicle control systems conjoint control of vehicle sub-units including control of suspension systems B60W10/22
• CPC Class Codes: B60G 2400/0521 Roll rate
• CPC Class Codes: B60G 2400/0522 Pitch rate
• 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 2400/106 longitudinal with regard to vehicle, e.g. braking
• CPC Class Codes: B60G 2400/204 Vehicle speed
• CPC Class Codes: B60G 2400/252 vertical
• CPC Class Codes: B60G 2400/52 in tyre
• CPC Class Codes: B60G 2600/08 Failure or malfunction detecting means
• CPC Class Codes: B60G 2800/012 Rolling condition
• CPC Class Codes: B60G 2800/014 Pitch; Nose dive
• CPC Class Codes: B60G 2800/016 Yawing condition
• CPC Class Codes: B60G 2800/85 System Prioritisation
• CPC Class Codes: B60G 2800/91 Suspension Control

Abstract

A stability control system (18) for an automotive vehicle includes a plurality of sensors (28-39) sensing the dynamic conditions of the vehicle. The sensors may include a speed sensor (20), a lateral acceleration sensor (32), a roll rate sensor (34), a yaw rate sensor (20) and a longitudinal acceleration sensor (36). The controller (26) is coupled to the speed sensor (20), the lateral acceleration sensor (32), the roll rate sensor (34), the yaw rate sensor (28) and a longitudinal acceleration sensor (36). The controller (26) determines a global roll attitude and a global pitch attitude from the roll rate, lateral acceleration signal and the longitudinal acceleration signal. The controller determines a roll gradient based upon a past raw roll rate and current raw roll rate, the roll angular rate signal and the lateral acceleration signal, a pitch gradient based upon a past raw pitch rate and current raw pitch rate the calculated pitch angular rate signal and the longitudinal acceleration signal. The controller determines a relative roll and relative pitch as a function of the roll gradient and the pitch gradient.

Claims

1. A control system for an automotive vehicle having a vehicle body comprising:

a first angular rate sensor generating a first angular rate signal corresponding to a first angular motion of the vehicle body;

a second angular rate sensor generating a second angular rate signal corresponding to a second angular motion of the vehicle body;

a lateral accelerometer generating a lateral acceleration signal corresponding to a lateral acceleration of a center of gravity of the vehicle body;

a longitudinal accelerometer generating a longitudinal acceleration signal corresponding to the longitudinal acceleration of the center of gravity of the vehicle body;

a wheel speed sensor generating a wheel speed signal corresponding to a wheel speed of the vehicle; and

a controller coupled to said first angular rate sensor, said second angular rate sensor, said lateral accelerometer, said longitudinal accelerometer, and said wheel speed sensor, said controller determining a roll gradient based upon a past raw roll rate and current raw roll rate, the first angular rate signal or the second angular rate signal and the lateral acceleration signal, a pitch gradient based upon a past raw pitch rate and current raw pitch rate, the first or second angular rate signal and the longitudinal acceleration signal, determining a relative roll and relative pitch as a function of the roll gradient and the pitch gradient.

2. A system as recited in claim 1 wherein said first angular rate sensor is one selected from the group of a yaw rate sensor, a pitch rate sensor and a roll rate sensor and said second angular rate sensor comprises is one selected from the group of a yaw rate sensor, a pitch rate sensor and a roll rate sensor, said second sensor being different than the first sensor.

3. A control system for an automotive vehicle having a vehicle body comprising:

a roll angular rate sensor generating a roll angular rate signal corresponding to a roll angular motion of the vehicle body;

a yaw angular rate sensor generating a yaw motion signal corresponding to a yaw motion of the vehicle body;

a lateral accelerometer generating a lateral acceleration signal corresponding to a lateral acceleration of a center of gravity of the vehicle body;

a longitudinal accelerometer generating a longitudinal acceleration signal corresponding to the longitudinal acceleration of the center of gravity of the vehicle body;

a wheel speed sensor generating a wheel speed signal corresponding to a wheel speed of the vehicle; and

a controller coupled to said roll angular rate sensor, said yaw angular rate sensor, said lateral accelerometer, said longitudinal accelerometer, and said wheel speed sensor, said controller determining a pitch rate in response to said roll angular rate signal, said yaw motion signal, said lateral acceleration signal, said longitudinal acceleraton signal, and said wheel speed signal, said controller determining a roll gradient based upon a past raw roll rate and current raw roll rate, the roll angular rate signal and the lateral acceleration signal;

a pitch gradient based upon a past raw pitch rate and current raw pitch rate, the calculated pitch angular rate signal and the longitudinal acceleration signal, determining a relative roll and relative pitch as a function of the roll gradient and the pitch gradient.

4. A control system as recited in claim 3 further comprising a safety system coupled to said controller, said controller generating a control signal to said safety system in response to said relative roll angle, the relative pitch angle, a global roll attitude and a global pitch attitude.

5. A control system as recited in claim 4 wherein said safety system comprises an active brake control system.

6. A control system as recited in claim 4 wherein said safety system comprises an active rear steering system.

7. A control system as recited in claim 4 wherein said safety system comprises an active front steering system.

8. A control system as recited in claim 4 wherein said safety system comprises an active anti-roll bar system.

9. A control system as recited in claim 4 wherein said safety system comprises an active suspension system.

10. A method of controlling a rollover system for a vehicle body of an automotive vehicle comprising:

measuring a roll rate of the vehicle body;

measuring a lateral acceleration of the vehicle body;

measuring a longitudinal acceleration of the vehicle body;

measuring a yaw rate of the vehicle body;

determining a calculated pitch rate signal from the yaw rate, the roll rate, the lateral acceleration and the longitudinal acceleration;

determining a global roll attitude and a global pitch attitude from the calculated pitch angular rate, the roll rate, lateral acceleration and the longitudinal acceleration;

determining a roll gradient based upon a past raw roll rate, the roll rate signal and the lateral acceleration signal;

determining a relative roll angle based upon said roll gradient;

determining a pitch gradient based upon a past raw pitch rate and calculated pitch rate and the longitudinal acceleration signal;

determining a relative pitch angle based upon said pitch gradient; and

activating a safety device in response to the relative roll angle, the relative pitch angle, the global roll and global pitch angle.

11. A method as recited in claim 10 wherein determining a relative pitch angle comprises determining a relative pitch angle using an Euler approximation.

12. A method as recited in claim 10 wherein determining a relative roll angle comprises determining a relative roll angle using an Euler approximation.

13. A method as recited in claim 10 wherein said step of activating a safety device comprises one selected from the group consisting of an active brake control system, an active rear steering system, an active front steering system, an active anti-roll bar system, and an active suspension system.

14. A method of controlling a safety system for a vehicle body of an automotive vehicle comprising:

measuring a roll rate of the vehicle body;

measuring a lateral acceleration of the vehicle body;

measuring a longitudinal acceleration of the vehicle body;

measuring a yaw rate of the vehicle body; and

determining a relative roll angle, a relative pitch angle, a global roll and a global pitch angle in response to the roll rate, the yaw rate, the lateral acceleration and the longitudinal acceleration.

15. A control system for an automotive vehicle having a vehicle body comprising:

a first angular rate sensor generating a first angular rate signal corresponding to a first angular motion of the vehicle body;

a second angular rate sensor generating a second angular rate signal corresponding to a second angular motion of the vehicle body;

a lateral accelerometer generating a lateral acceleration signal corresponding to a lateral acceleration of a center of gravity of the vehicle body;

a wheel speed sensor generating a wheel speed signal corresponding to a wheel speed of the vehicle; and

a controller coupled to said first angular rate sensor, said second angular rate sensor, said lateral accelerometer and said wheel speed sensor, said controller determining a roll gradient based upon a past raw roll rate and current raw roll rate, the first angular rate signal or the second angular rate signal and the lateral acceleration signal, determining a relative roll as a function of the roll gradient.

16. A system as recited in claim 15 wherein said first angular rate sensor is one selected from the group of a yaw rate sensor, a pitch rate sensor and a roll rate sensor and said second angular rate sensor comprises one selected from the group of a yaw rate sensor, a pitch rate sensor and a roll rate sensor, said second sensor being different than the first sensor.

17. A control system for an automotive vehicle having a vehicle body comprising:

a roll angular rate sensor generating a roll angular rate signal corresponding to a roll angular motion of the vehicle body;

a yaw angular rate sensor generating a yaw motion signal corresponding to a yaw motion of the vehicle body;

a lateral accelerometer generating a lateral acceleration signal corresponding to a lateral acceleration of a center of gravity of the vehicle body;

a wheel speed sensor generating a wheel speed signal corresponding to a wheel speed of the vehicle; and

a controller coupled to said roll angular rate sensor, said yaw angular rate sensor, said lateral accelerometer and said wheel speed sensor, said controller determining a roll gradient based upon a past raw roll rate and current raw roll rate, the roll angular rate signal and the lateral acceleration signal, determining a relative roll angle as a function of the roll gradient.

18. A control system as recited in claim 17 further comprising a safety system coupled to said controller, said controller generating a control signal to said safety system in response to said relative roll angle.

19. A control system as recited in claim 18 wherein said safety system comprises an active brake control system.

20. A control system as recited in claim 18 wherein said safety system comprises an active rear steering system.

21. A control system as recited in claim 18 wherein said safety system comprises an active front steering system.

22. A control system as recited in claim 18 wherein said safety system comprises an active anti-roll bar system.

23. A control system as recited in claim 18 wherein said safety system comprises an active suspension system.

24. A method of controlling a rollover system for a vehicle body of an automotive vehicle comprising:

measuring a roll rate of the vehicle body;

measuring a lateral acceleration of the vehicle body;

measuring a longitudinal acceleration of the vehicle body;

measuring a yaw rate of the vehicle body;

determining a global roll attitude from the roll rate, lateral acceleration and the longitudinal acceleration;

determining a roll gradient based upon a past raw roll rate, the roll rate signal and the lateral acceleration signal;

determining a relative roll angle based upon said roll gradient;

activating a safety device in response to the relative roll angle and the global roll.

25. A method as recited in claim 24 wherein determining a relative roll angle comprises determining a relative roll angle using an Euler approximation.

26. A method as recited in claim 24 wherein said step of activating a safety device comprises one selected from the group consisting of an active brake control system, an active rear steering system, an active front steering system, an active anti-roll bar system, and an active suspension system.

27. A method of controlling a safety system for a vehicle body of an automotive vehicle comprising:

measuring a roll rate of the vehicle body;

measuring a lateral acceleration of the vehicle body;

measuring a yaw rate of the vehicle body; and

determining a relative roll angle, a global roll angle in response to the roll rate, the yaw rate and the lateral acceleration.

28. A control system for an automotive vehicle having a vehicle body comprising:

a first angular rate sensor generating a first angular rate signal corresponding to a first angular motion of the vehicle body;

a second angular rate sensor generating a second angular rate signal corresponding to a second angular motion of the vehicle body;

a longitudinal accelerometer generating a longitudinal acceleration signal corresponding to the longitudinal acceleration of the center of gravity of the vehicle body;

a wheel speed sensor generating a wheel speed signal corresponding to a wheel speed of the vehicle; and

a controller coupled to said first angular rate sensor, said second angular rate sensor, said longitudinal accelerometer, and said wheel speed sensor, said controller determining a pitch gradient based upon a past raw pitch rate and current raw pitch rate, the first or second angular rate signal and the longitudinal acceleration signal, determining a relative roll and relative pitch as a function of the pitch gradient.

29. A system as recited in claim 28 wherein said first angular rate sensor is one selected from the group of a yaw rate sensor, a pitch rate sensor and a roll rate sensor and said second angular rate sensor comprises one selected from the group of a yaw rate sensor, a pitch rate sensor and a roll rate sensor, said second sensor being different than the first sensor.

30. A control system for an automotive vehicle having a vehicle body comprising:

a roll angular rate sensor generating a roll angular rate signal corresponding to a roll angular motion of the vehicle body;

a yaw angular rate sensor generating a yaw motion signal corresponding to a yaw motion of the vehicle body;

a longitudinal accelerometer generating a longitudinal acceleration signal corresponding to the longitudinal acceleration of the center of gravity of the vehicle body;

a wheel speed sensor generating a wheel speed signal corresponding to a wheel speed of the vehicle; and

a controller coupled to said roll angular rate sensor, said yaw angular rate sensor, said longitudinal accelerometer, and said wheel speed sensor, said controller determining a pitch rate in response to said roll angular rate signal, said yaw motion signal, said longitudinal acceleration signal, and said wheel speed signal, said controller determining a pitch gradient based upon a past raw pitch rate and current raw pitch rate, the calculated pitch angular rate signal and the longitudinal acceleration signal, determining a relative pitch angle as a function of the pitch gradient.

31. A control system as recited in claim 30 further comprising a safety system coupled to said controller, said controller generating a control signal to said safety system in response to the relative pitch angle, and a global pitch attitude.

32. A control system as recited in claim 31 wherein said safety system comprises an active brake control system.

33. A control system as recited in claim 31 wherein said safety system comprises an active rear steering system.

34. A control system as recited in claim 31 wherein said safety system comprises an active front steering system.

35. A control system as recited in claim 31 wherein said safety system comprises an active anti-roll bar system.

36. A control system as recited in claim 31 wherein said safety system comprises an active suspension system.

37. A method of controlling a rollover system for a vehicle body of an automotive vehicle comprising:

measuring a roll rate of the vehicle body;

measuring a lateral acceleration of the vehicle body;

measuring a longitudinal acceleration of the vehicle body;

measuring a yaw rate of the vehicle body;

determining a calculated pitch rate signal from the yaw rate, the roll rate, the lateral acceleration and the longitudinal acceleration;

determining a global pitch angle from the calculated pitch angular rate, lateral acceleration and the longitudinal acceleration;

determining a pitch gradient based upon a past raw pitch rate and calculated pitch rate and the longitudinal acceleration signal;

determining a relative pitch angle based upon said pitch gradient; and

activating a safety device in response to the relative roll angle, the relative pitch angle, the global roll and global pitch angle.

38. A method as recited in claim 37 wherein determining a relative pitch angle comprises determining a relative pitch angle using an Euler approximation.

39. A method as recited in claim 37 wherein said step of activating a safety device comprises one selected from the group consisting of an active brake control system, an active rear steering system, an active front steering system, an active anti-roll bar system, and an active suspension system.

40. A method of controlling a safety system for a vehicle body of an automotive vehicle comprising:

measuring a roll rate of the vehicle body;

measuring a longitudinal acceleration of the vehicle body;

measuring a yaw rate of the vehicle body; and

determining a relative pitch angle, a global pitch angle in response to the roll rate, the yaw rate, and the longitudinal acceleration.