Vehicle attitude angle estimation using sensed signal blending

• US 6,292,759 B1
• Filed: 11/19/1998
• Issued: 09/18/2001
• Est. Priority Date: 11/19/1998
• Status: Expired due to Term

• Current Assignee: Invensense Incorporated (TDK Corporation)
• Original Assignee: Delphi Technologies, Inc. (BorgWarner Incorporated)
• Inventors: Schiffmann, Jan Konried
• Primary Examiner(s): Grimley, Arthur T.
• Assistant Examiner(s): LE, JOHN H
• Application Number:
  US09/196,380
• Time in Patent Office: 1,034 Days
• Field of Search: 702/150, 702/151, 702/152, 702/153, 701/4, 701/36, 701/37, 701/38, 701/41, 701/42, 701/43, 701/44, 701/45, 701/46, 340/429, 340/436, 340/440
• US Class Current: 702/151
• CPC Class Codes: B60R 2021/01304 monitoring rough road condition
• CPC Class Codes: B60R 2021/01325 Vertical acceleration
• CPC Class Codes: B60R 2021/01327 Angular velocity or angular acceleration
• CPC Class Codes: B60T 2210/14 Rough roads, bad roads, gravel roads
• CPC Class Codes: B60T 2230/02 Side slip angle, attitude angle, floating angle, drift angle
• CPC Class Codes: B60T 2230/03 Overturn, rollover
• CPC Class Codes: B60T 2250/06 Sensor zero-point adjustment; Offset compensation
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence

Abstract

An attitude angle estimator and method of estimating attitude angle of a vehicle. According to one embodiment, an angular attitude rate sensor senses angular attitude rate of a vehicle, and an accelerometer detects lateral or longitudinal acceleration. An attitude angle estimate is produced and is updated as a function of the sensed angular attitude rate. An acceleration-based attitude angle is determined as a function of the sensed acceleration, and a blending coefficient is provided. A *current vehicle attitude angle estimate is generated as a function of the updated attitude angle estimate, the acceleration-based attitude angle, and the blending coefficient. According to a second embodiment, both a roll angle estimate and a pitch angle estimate are determined.

Claims

1. A method for estimating an attitude angle of a vehicle, said method comprising the steps of:

sensing angular attitude rate of a vehicle and producing an output signal indicative thereof;

sensing one of lateral and longitudinal acceleration of the vehicle and producing an output signal indicative thereof;

producing an attitude angle estimate;

updating said attitude angle estimate as a function of said sensed angular attitude rate;

determining an acceleration-based attitude angle as a function of said sensed acceleration;

providing a blending coefficient; and

generating a current vehicle attitude angle estimate as a function of said updated attitude angle estimate, said acceleration-based attitude angle, and said blending coefficient.

2. The method as defined in claim 1 further comprising the step of detecting a rough road condition of the vehicle, and adjusting said blending coefficient as a function of said rough road detection.

3. The method as defined in claim 2, wherein said step of detecting a rough road condition of the vehicle includes detecting the rough road condition of the vehicle as a function of the acceleration-based attitude angle.

4. The method as defined in claim 1 further comprising the step of detecting an airborne condition of the vehicle, and adjusting said blending coefficient as a function of said detected airborne condition.

5. The method as defined in claim 1, wherein said attitude angle comprises a roll angle, said sensed attitude rate comprises an angular roll rate, and said sensed acceleration comprises a lateral acceleration.

6. The method as defined in claim 1, wherein said attitude angle comprises a pitch angle, said sensed attitude rate comprises an angular pitch rate, and said sensed acceleration comprises a longitudinal acceleration.

7. The method as defined in claim 1, wherein said step of updating said attitude angle estimate includes the step of integrating said sensed angular attitude rate over a time period, and adding said integration with said attitude angle estimate.

8. The method as defined in claim 1, wherein said attitude angle estimate comprises the vehicle attitude angle estimate at a previous time period.

9. The method as defined in claim 1, wherein said step of generating said vehicle attitude angle estimate further comprises multiplying said blending coefficient by the difference between said acceleration-based angle estimate and said updated attitude angle estimate, and further adding said multiplication to said updated attitude angle estimate.

10. The method as defined in claim 1, wherein said blending coefficient has a value in the range of 0 to 1.

11. A method for estimating a roll angle of a vehicle, said method comprising the steps of:

sensing angular roll rate of a vehicle and producing an output signal indicative thereof;

sensing lateral acceleration of the vehicle and producing an output signal indicative thereof;

producing a roll angle estimate;

updating said roll angle estimate as a function of said sensed angular roll rate;

determining an acceleration-based roll angle as a function of said sensed lateral acceleration;

providing a roll blending coefficient; and

further updating said roll angle estimate as a function of said acceleration-based roll angle and said roll blending coefficient to generate a current vehicle roll angle estimate.

12. The method as defined in claim 11 further comprising the steps of:

sensing angular pitch rate of the vehicle and producing an output signal indicative thereof;

sensing longitudinal acceleration of the vehicle and producing an output signal indicative thereof;

producing a pitch angle estimate;

updating said pitch angle estimate as a function of said sensed angular pitch rate;

determining an acceleration-based pitch angle as a function of said sensed longitudinal acceleration;

providing a pitch blending coefficient; and

further updating said pitch angle estimate as a function of said acceleration-based pitch angle and said pitch blending coefficient to generate a current vehicle pitch angle estimate.

13. The method as defined in claim 11 further comprising the step of detecting a rough road condition of the vehicle, and adjusting said roll blending coefficient as a function of said detected rough road condition.

14. The method as defined in claim 11 further comprising the step of detecting an airborne condition of the vehicle, and adjusting said roll blending coefficient as a function of said detected airborne condition.

15. The method as defined in claim 12 further comprising the step of detecting a rough road condition of the vehicle, and adjusting said pitch blending coefficient as a function of said detected rough road condition.

16. The method as defined in claim 11, wherein said step of updating said roll angle estimate includes a step of integrating said sensed angular roll rate over a time period, and adding said integration to said roll angle estimate.

17. The method as defined in claim 11, wherein said step of further updating said roll angle estimate comprises multiplying said roll blending coefficient by the difference between said acceleration-based roll angle and said updated roll angle estimate, and further adding said multiplication to said updated roll angle estimate.

18. A vehicle attitude angle estimator for use in a vehicle, said vehicle angle estimator comprising:

an angular attitude rate sensor for sensing angular attitude rate of a vehicle and producing an output signal indicative thereof;

an accelerometer for detecting one of lateral and longitudinal acceleration of the vehicle and producing an output signal indicative thereof;

a controller for producing an attitude angle estimate and updating said attitude angle estimate as a function of said sensed angular attitude rate;

said controller determining an acceleration-based attitude angle as a function of said sensed acceleration, said controller further providing a blending coefficient and generating a current vehicle attitude angle estimate as a function of said updated attitude angle estimate, said acceleration-based attitude angle, and said blending coefficient.

19. The vehicle angle estimator as defined in claim 18 further comprising a rough road detector for detecting a rough road condition of the vehicle, wherein said blending coefficient is adjusted as a function of said detected rough road condition.

20. The vehicle angle estimator as defined in claim 18 further comprising an airborne detector for detecting an airborne condition of the vehicle, wherein said blending coefficient is adjusted as a function of said detected airborne condition.

21. The vehicle angle estimator as defined in claim 18, wherein said angular attitude rate sensor comprises an angular roll sensor for sensing angular roll rate, and said accelerometer comprises a lateral accelerometer for sensing lateral acceleration, wherein said controller produces a roll angle estimate and updates the roll angle estimate as a function of the sensed angular roll rate, and said controller determines an acceleration-based roll angle as a function of the sensed lateral acceleration, said controller further provides a roll blending coefficient and generates a current vehicle roll angle estimate by further updating the roll angle estimate as a function of the acceleration-based roll angle and the roll blending coefficient.

22. The vehicle attitude angle estimator as defined in claim 21 further comprising:

an angular pitch rate sensor for sensing angular pitch rate of the vehicle and producing an output signal indicative thereof;

a longitudinal accelerometer for detecting longitudinal acceleration of the vehicle and producing an output signal indicative thereof; and

said controller produces a pitch angle estimate and updates said pitch angle estimate as a function of said sensed angular pitch rate, and said controller determines an acceleration-based pitch angle as a function of said sensed longitudinal acceleration, said controller further providing a blending coefficient and generating a current vehicle pitch angle estimate by further updating said pitch angle estimate as a function of said acceleration-based pitch angle and said pitch blending coefficient.

23. The vehicle angle estimator as defined in claim 18, wherein said angular attitude rate sensor comprises an angular pitch rate sensor for sensing angular pitch rate and said accelerometer comprises a longitudinal acceleration for detecting longitudinal acceleration, said controller producing a pitch angle estimate and updating said pitch angle estimate as a function of said sensed angular pitch rate, and said controller determining an acceleration-based pitch angle as a function of said sensed longitudinal acceleration, said controller further providing a pitch blending coefficient and further updating said pitch angle estimate as a function of said acceleration-based pitch angle and said pitch blending coefficient to generate a current vehicle pitch angle estimate.

24. The vehicle angle estimator as defined in claim 18, wherein said controller generates said current vehicle attitude angle estimate by multiplying said blending coefficient by the difference between the acceleration-based angle estimate and the updated attitude angle estimate, said controller further adding said multiplication to the updated attitude angle estimate.

25. The vehicle angle estimator as defined in claim 18, wherein said rough road detector detects the rough road condition of the vehicle as a function of said acceleration-based attitude angle.