Attitude sensing system for an automotive vehicle relative to the road
First Claim
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1. A method of controlling a system onboard a vehicle having wheels, said method comprising the steps of:
- determining the speed of each of said wheels on said vehicle;
determining the longitudinal velocity of said vehicle;
determining the longitudinal slip of each of said wheels;
determining the longitudinal acceleration of said vehicle;
determining the yaw rate of said vehicle;
determining the roll rate of said vehicle;
estimating the pitch angle of said vehicle from said longitudinal velocity, said longitudinal slip, and said longitudinal acceleration;
estimating the roll angle of said vehicle from said yaw rate, said roll rate, and said pitch angle;
estimating the lateral velocity of said vehicle from said roll angle;
estimating a slip angle from said longitudinal velocity and said lateral velocity; and
controlling said system onboard said vehicle according to said slip angle.
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Abstract
A system (18) for controlling a system or device (44) of an automotive vehicle (10) includes a roll rate sensor (34). A controller (26) determines a lateral velocity of the automotive vehicle (10) in response to the roll rate. The controller (26) also controls the vehicle system or device (44) in response to the lateral velocity.
304 Citations
31 Claims
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1. A method of controlling a system onboard a vehicle having wheels, said method comprising the steps of:
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determining the speed of each of said wheels on said vehicle; determining the longitudinal velocity of said vehicle; determining the longitudinal slip of each of said wheels; determining the longitudinal acceleration of said vehicle; determining the yaw rate of said vehicle; determining the roll rate of said vehicle; estimating the pitch angle of said vehicle from said longitudinal velocity, said longitudinal slip, and said longitudinal acceleration; estimating the roll angle of said vehicle from said yaw rate, said roll rate, and said pitch angle; estimating the lateral velocity of said vehicle from said roll angle; estimating a slip angle from said longitudinal velocity and said lateral velocity; and controlling said system onboard said vehicle according to said slip angle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A method of controlling a system on a vehicle, said method comprising the steps of:
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determining an upper bound pitch angle and a lower bound pitch angle; determining an upper bound roll angle corresponding to said upper bound pitch angle and a lower bound roll angle corresponding to said lower bound pitch angle; determining a lower bound lateral velocity corresponding to said lower bound roll angle and an upper bound lateral velocity corresponding to said upper bound roll angle; determining a linear lateral velocity of said vehicle; when said lower bound lateral velocity is below said linear lateral velocity, adjusting said lower bound lateral velocity to said linear lateral velocity to form an adjusted lower bound lateral velocity; and controlling said system on said vehicle in response to said adjusted lower bound lateral velocity. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. A system for controlling a device onboard a vehicle having wheels, said system comprising:
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a plurality of wheel speed sensors for generating wheel speed signals; a longitudinal acceleration sensor for generating a longitudinal acceleration signal; a yaw rate sensor for generating a yaw rate signal; a roll rate sensor for generating a roll rate signal; and a controller for being coupled to said device, said wheel speed sensors, said longitudinal acceleration sensor, said yaw rate sensor, and said roll rate sensor; wherein said controller is operable to; determine the speed of each of said wheels on said vehicle; determine the longitudinal velocity of said vehicle; determine the longitudinal slip of each of said wheels; determine the longitudinal acceleration of said vehicle; determine the yaw rate of said vehicle; determine the roll rate of said vehicle; estimate the pitch angle of said vehicle from said longitudinal velocity, said longitudinal slip, and said longitudinal acceleration; estimate the roll angle of said vehicle from said yaw rate, said roll rate, and said pitch angle; estimate the lateral velocity of said vehicle from said roll angle; estimate a slip angle from said longitudinal velocity and said lateral velocity; and control said device onboard said vehicle according to said slip angle. - View Dependent Claims (26, 27, 28, 29, 30, 31)
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Specification