Attitude sensing system for an automotive vehicle relative to the road
First Claim
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.
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Accused Products
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.
245 Citations
14 Claims
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1. A control system for an automotive vehicle having a vehicle body comprising:
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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. - View Dependent Claims (2)
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3. A control system for an automotive vehicle having a vehicle body comprising:
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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.- View Dependent Claims (4, 5, 6, 7, 8, 9)
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10. A method of controlling a rollover system for a vehicle body of an automotive vehicle comprising:
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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. - View Dependent Claims (11, 12, 13)
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14. A method of controlling a safety system for a vehicle body of an automotive vehicle comprising:
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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.
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Specification