Vehicle side slip angle estimation using dynamic blending and considering vehicle attitude information
First Claim
1. A method of estimating and determining a side slip angle of an automotive vehicle, comprising the steps of:
- measuring vehicle dynamic conditions;
determining a first side slip angle due to gravity, a vehicle attitude change, non-linearity of a side slip angle velocity and the dynamic conditions;
generating a steady state side slip angle; and
determining a side slip angle estimation based on the first side slip angle and the second side slip angle.
3 Assignments
0 Petitions
Accused Products
Abstract
A method and system (18) for determining a side slip angle for an automotive vehicle (10) includes various sensors such as a yaw rate sensor (28), a speed sensor (20), a lateral acceleration sensor (32), a roll rate sensor (34), a steering angle sensor (35), and a longitudinal acceleration sensor (36). Each of the sensors are coupled to a controller (26) that determines a side slip angle velocity in response to the sensor signals. The side slip angle velocity is compensated for due to gravity and vehicle attitude changes. Also, the side slip angle velocity is compensated for due to the non-linearity of the side slip angle. The side slip angle velocity is integrated, preferably with an anti-drift integration filter (to determine an integrated side slip angle). A steady state side slip angle is also determined based on the sensors such as the yaw rate sensor and the lateral acceleration sensor. The steady state side slip angle is filtered using a steady state recovery filter (74). The integrated side slip angle and the steady state side slip angle are combined to form a side slip angle estimate.
51 Citations
21 Claims
-
1. A method of estimating and determining a side slip angle of an automotive vehicle, comprising the steps of:
-
measuring vehicle dynamic conditions;
determining a first side slip angle due to gravity, a vehicle attitude change, non-linearity of a side slip angle velocity and the dynamic conditions;
generating a steady state side slip angle; and
determining a side slip angle estimation based on the first side slip angle and the second side slip angle. - View Dependent Claims (2, 3, 4)
-
-
5. A method of estimating and determining a side slip angle of an automotive vehicle, comprising the steps of:
-
measuring the yaw rate of vehicle;
measuring the lateral acceleration of the vehicle;
calculating the vehicle scalar velocity;
calculating an attitude change;
determining a side slip angle velocity based on the scalar velocity;
determining a first correction to side slip angle velocity due to gravity and the vehicle attitude change;
determining a second correction to side slip angle velocity due to nonlinearity;
forming a corrected side slip angle based on the first correction and the second correction;
integrating the said corrected side slip angle velocity to form an integrated side slip angle;
generating a steady state side slip angle based on the yaw rate and lateral dynamics of the vehicle;
filtering the steady state side slip signal with a steady state recovery filter to obtain a filtered side slip angle; and
determining a side slip angle estimation based on the integrated side slip angle and the filtered side slip angle. - View Dependent Claims (6, 7, 8, 9, 10, 11, 12, 13)
-
-
14. A method wherein generating a steady state side slip angle comprises generating a steady state side slip angle according to the formula:
-
15. A control system for an automotive vehicle comprising:
-
a yaw rate sensor for generating a yaw rate signal;
a lateral acceleration sensor generating a lateral acceleration signal;
a speed sensor for generating a vehicle scalar velocity signal;
a longitudinal acceleration sensor generating a longitudinal acceleration signal;
a roll rate sensor generating a roll rate signal;
a controller coupled to the yaw rate sensor, the lateral acceleration sensor, the longitudinal acceleration sensor and the roll rate sensor, said controller determining an attitude change in response based on the roll rate signal, the yaw rate signal, longitudinal acceleration signal and lateral acceleration signal, determining a side slip angle velocity based on the scalar velocity, the controller determining a first correction to side slip angle velocity due to gravity and the vehicle attitude change, a second correction to side slip angle velocity due to nonlinearity and a corrected side slip angle based on the first correction and the second correction, said controller integrating the corrected side slip angle velocity to form an integrated side slip angle, generating a steady state side slip angle based on the yaw rate and lateral dynamics of the vehicle;
filtering the steady state side slip signal with a steady state recovery filter to obtain a filtered side slip angle, and determining a side slip angle estimation based on the integrated side slip angle and the filtered side slip angle. - View Dependent Claims (16, 17, 18, 19, 20, 21)
-
Specification