U.S. patent number RE40,496 [Application Number 10/850,583] was granted by the patent office on 2008-09-09 for attitude sensing system for an automotive vehicle relative to the road.
This patent grant is currently assigned to Ford Global Technologies, LLC. Invention is credited to Todd Allen Brown, Jianbo Lu.
United States Patent |
RE40,496 |
Lu , et al. |
September 9, 2008 |
Attitude sensing system for an automotive vehicle relative to the
road
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.
Inventors: |
Lu; Jianbo (Livonia, MI),
Brown; Todd Allen (Dearborn, MI) |
Assignee: |
Ford Global Technologies, LLC
(Dearborn, MI)
|
Family
ID: |
22226878 |
Appl.
No.: |
10/850,583 |
Filed: |
May 20, 2004 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
Issue Date |
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Reissue of: |
10091264 |
Mar 4, 2002 |
06556908 |
Apr 29, 2003 |
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Current U.S.
Class: |
701/38; 180/271;
701/29.1; 701/36; 701/45 |
Current CPC
Class: |
B60G
17/0185 (20130101); B60G 17/0195 (20130101); B60G
2800/91 (20130101); B60G 2400/0521 (20130101); B60G
2400/0522 (20130101); B60G 2400/0523 (20130101); B60G
2400/104 (20130101); B60G 2400/106 (20130101); B60G
2400/204 (20130101); B60G 2400/252 (20130101); B60G
2400/52 (20130101); B60G 2600/08 (20130101); B60G
2800/012 (20130101); B60G 2800/014 (20130101); B60G
2800/016 (20130101); B60G 2800/85 (20130101) |
Current International
Class: |
G06F
19/00 (20060101) |
Field of
Search: |
;701/35-38,45 ;702/151
;340/440 ;180/271,282 |
References Cited
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Primary Examiner: Zanelli; Michael J.
Attorney, Agent or Firm: Brown; Greg Dickinson Wright
PLLC
Claims
What is claimed is:
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.
.Iadd.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..Iaddend.
.Iadd.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..Iaddend.
.Iadd.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..Iaddend.
.Iadd.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..Iaddend.
.Iadd.19. A control system as recited in claim 18 wherein said
safety system comprises an active brake control
system..Iaddend.
.Iadd.20. A control system as recited in claim 18 wherein said
safety system comprises an active rear steering
system..Iaddend.
.Iadd.21. A control system as recited in claim 18 wherein said
safety system comprises an active front steering
system..Iaddend.
.Iadd.22. A control system as recited in claim 18 wherein said
safety system comprises an active anti-roll bar
system..Iaddend.
.Iadd.23. A control system as recited in claim 18 wherein said
safety system comprises an active suspension system..Iaddend.
.Iadd.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..Iaddend.
.Iadd.25. A method as recited in claim 24 wherein determining a
relative roll angle comprises determining a relative roll angle
using an Euler approximation..Iaddend.
.Iadd.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..Iaddend.
.Iadd.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..Iaddend.
.Iadd.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..Iaddend.
.Iadd.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..Iaddend.
.Iadd.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..Iaddend.
.Iadd.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..Iaddend.
.Iadd.32. A control system as recited in claim 31 wherein said
safety system comprises an active brake control
system..Iaddend.
.Iadd.33. A control system as recited in claim 31 wherein said
safety system comprises an active rear steering
system..Iaddend.
.Iadd.34. A control system as recited in claim 31 wherein said
safety system comprises an active front steering
system..Iaddend.
.Iadd.35. A control system as recited in claim 31 wherein said
safety system comprises an active anti-roll bar
system..Iaddend.
.Iadd.36. A control system as recited in claim 31 wherein said
safety system comprises an active suspension system..Iaddend.
.Iadd.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..Iaddend.
.Iadd.38. A method as recited in claim 37 wherein determining a
relative pitch angle comprises determining a relative pitch angle
using an Euler approximation..Iaddend.
.Iadd.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..Iaddend.
.Iadd.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..Iaddend.
Description
TECHNICAL FIELD
The present invention relates generally to a control apparatus for
controlling a system of an automotive vehicle in response to sensed
dynamic behavior, and more specifically, to a method and apparatus
for controlling the system of the vehicle by determining attitude
of the vehicle.
BACKGROUND
Dynamic control systems for automotive vehicles have recently begun
to be offered on various products. Dynamic control systems
typically control the yaw of the vehicle by controlling the braking
effort at the various wheels of the vehicle. Yaw control systems
typically compare the desired direction of the vehicle based upon
the steering wheel angle and the direction of travel. By regulating
the amount of braking at each corner of the vehicle, the desired
direction of travel may be maintained. Typically, the dynamic
control systems do not address roll of the vehicle. For high
profile vehicles in particular, it would be desirable to control
the rollover characteristic of the vehicle to maintain the vehicle
position with respect to the road. That is, it is desirable to
maintain contact of each of the four tires of the vehicle on the
road.
In vehicle rollover control, it is desired to alter the vehicle
attitude such that its motion along the roll direction is prevented
from achieving a predetermined limit (rollover limit) with the aid
of the actuation from the available active systems such as
controllable brake system, steering system and suspension system.
Although the vehicle attitude is well defined, direct measurement
is usually impossible.
There are two types of vehicle attitudes needed to be
distinguished. One is the so-called global attitude, which is
sensed by the angular rate sensors. The other is the relative
attitude, which measures the relative angular positions of the
vehicle with respect to the road surface on which the vehicle is
driven. The global attitude of the vehicle is relative to an earth
frame (or called the inertia frame), sea level, or a flat road. It
can be directly related to the three angular rate gyro sensors.
While the relative attitude of the vehicle measures the relative
angular positions of the vehicle with respect to the road surface,
which are always of various terrains. Unlike the global attitude,
there are no gyro-type sensors which can be directly related to the
relative attitude. A reasonable estimate is that a successful
relative attitude sensing system must utilize both the gyro-type
sensors (when the road becomes flat, the relative attitude sensing
system recovers the global attitude) and some other sensor
signals.
One reason to distinguish relative and global attitude is due to
the fact that vehicles are usually driven on a 3-dimensional road
surface of different terrains, not always on a flat road surface.
Driving on a road surface with large road bank does increase the
rollover tendency, i.e., a large output from the global attitude
sensing system might well imply an uncontrollable rollover event
regardless of the flat road driving and the 3-D road driving.
However driving on a three-dimensional road with moderate road bank
angle, the global attitude may not be able to provide enough
fidelity for a rollover event to be distinguished. Vehicular
rollover happens when one side of the vehicle is lifted from the
road surface with a long duration of time without returning back.
If a vehicle is driven on a banked road, the global attitude
sensing system will pick up certain attitude information even when
the vehicle does not experience any wheel lifting (four wheels are
always contacting the road surface). Hence a measure of the
relative angular positions of the vehicle with respect to the
portion of the road surface on which the vehicle is driven provides
more fidelity than global attitude to sense the rollover event.
The vehicle rollover sensing system used for deploying
safety-related devices has been proposed in U.S. Pat. Nos.
6,002,975, 6,038,495, EP 1002709A2, where a stand-alone sensor
module including 5 sensors are used including the roll/pitch
angular rate sensors, later/longitudinal/vertical acceleration
sensors. These systems sense the global attitude of a vehicle
without considering the relative attitude of the vehicle with
respect to the road surfaces. Due to the stand-alone nature of the
sensing module, it does not share internal information with vehicle
dynamics control systems.
The rollover control system using brake controls has been proposed
in U.S. Pat. No. 6,065,558 ("Anti-Rollover Brake System"), where
the claimed sensor setting could be any of the following: (1) a
lateral accelerometer; (2) a sensor for measuring the body roll
angle; (3) an accelerometer, a gyroscope, a roll rate senor, and
sensors measuring the distances between the vehicle and the wheels
to measure the roll angle of the vehicle. In the current invention,
a different sensor set is used. The used sensors includes those
used in the vehicle yaw stability control (lateral/longitudinal
accelerometers, yaw angular rate sensor, wheel speeds and steering
angle) and an extra roll rate angular sensor. Also, notice that
U.S. Pat. No. 6,065,558 does not intend to distinguish between
global and relative attitude of a vehicle reflected by the Euler
angles.
Another vehicle attitude sensing method has been proposed in U.S.
Pat. No. 5,408,411 ("System For Predicting Behavior Of Automotive
Vehicle And For Controlling Vehicular Behavior Based Thereon").
Where a sensor module using six linear accelerations is mounted on
the vehicle to get vehicular attitude information.
It would therefore be desirable to provide an attitude control
system to predict attitude angle for vehicle dynamics control that
includes the interdependency among the roll, pitch and yaw motions
while compensating for long term maneuvers.
SUMMARY OF THE INVENTION
The present invention aims to estimate and predict the vehicular
attitude used in a rollover control system which can prevent the
vehicle from rolling over. The estimate and predicted variables are
used for setting a rollover control action flag and as the feedback
signals to construct the desired control forces for controlling
roll stability or activate other safety devices. In detail, the
rollover control action needs the information from the vehicle
attitude sensing system, the available sensors, and the
driving/road condition identifiers. The rollover control flag is
set based on a rollover logic process. In case a positive
determination of vehicle rollover is deemed from this rollover
logic process, the control commands will be computed by feeding
back the estimated vehicle attitude variables. The control command
output is further sent to the ECU of the hardware to activate the
system. In detail, the vehicle attitude sensing system uses all the
sensors available for yaw stability control (including a
.[.later.]. .Iadd.lateral .Iaddend.accelerometer, a longitudinal
accelerometer, a yaw angular rate, a steering angle sensor and the
wheel speed sensor signals) together with a roll angular rate
sensor. The vehicle attitude is characterized by the relative Euler
angles of the car body with respect to the road surface and by the
global Euler angles of the car body with respect to the sea level.
The vehicle attitude estimation and prediction utilize both the
kinematic and the dynamic relationships derived from vehicle
dynamics and vehicle dynamic models to relate the desired motion
variables with the measured sensor signals.
In one aspect of the invention, a stability control system for an
automotive vehicle includes a plurality of sensors sensing the
dynamic conditions of the vehicle. The sensors may include a speed
sensor, a lateral acceleration sensor, a roll rate sensor, a yaw
rate sensor and a longitudinal acceleration sensor. The controller
is coupled to the speed sensor, the lateral acceleration sensor,
the roll rate sensor, the yaw rate sensor and a longitudinal
acceleration sensor. The controller 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, .Iadd.and .Iaddend.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.
In a further aspect of the invention, a method of controlling roll
stability of the vehicle comprises the steps of: measuring a roll
rate of the vehicle body; measuring a lateral acceleration of the
vehicle body; measuring the longitudinal acceleration of the
vehicle body; measuring the yaw rate of the vehicle body; and
determining relative roll angle, the relative pitch angle, the
global roll and global pitch angle in response to the roll rate,
the yaw rate, the lateral acceleration and the longitudinal
acceleration.
Reducing system cost is typically a goal in automotive systems.
Since one of the three angular rate signals (pitch rate signal) can
be predicted from the other available signals, the cost reduction
of the system is possible by eliminating a pitch rate sensor. Also,
vertical acceleration sensor may be eliminated to further reduce
cost.
Other advantages and features of the present invention will become
apparent when viewed in light of the detailed description of the
preferred embodiment when taken in conjunction with the attached
drawings and appended claims.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a diagrammatic view of a vehicle with variable vectors
and coordinator frames according to the present invention.
FIG. 2 is a block diagram of a stability system according to the
present invention.
FIG. 3 is a diagrammatic view showing the displacement (relative to
road surface) of the four corners of the vehicle body along the
body-fixed vertical axis.
FIG. 4 is a diagrammatic view showing the two components of the
relative corner displacement depicted in FIG. 3.
FIG. 5 is flow chart of determination according to the present
invention.
DESCRIPTION OF THE PREFERRED EMBODIMENT
In the following figures the same reference numerals will be used
to identify the same components. The present invention is
preferably used in conjunction with a rollover control system for a
vehicle. However, the present invention may also be used with a
deployment device such as airbag or roll bar. The present invention
will be discussed below in terms of preferred embodiments relating
to an automotive vehicle moving in a three-dimensional road
terrain.
Referring to FIG. 1, an automotive vehicle 10 with a safety system
of the present invention is illustrated with the various forces and
moments thereon during a rollover condition. Vehicle 10 has front
right and front left tires 12a and 12b and rear right tires 13a and
left rear tires 13b respectively. The vehicle 10 may also have a
number of different types of front steering systems 14a and rear
steering systems 14b including having each of the front and rear
wheels configured with a respective controllable actuator, the
front and rear wheels having a conventional type system in which
both of the front wheels are controlled together and both of the
rear wheels are controlled together, a system having conventional
front steering and independently controllable rear steering for
each of the wheels or vice versa. Generally, the vehicle has a
weight represented as Mg at the center of gravity of the vehicle,
where g=9.8 m/s.sup.2 and M is the total mass of the vehicle.
As mentioned above, the system may also be used with
active/semi-active suspension systems, anti-roll bar or other
safety devices deployed or activated upon sensing predetermined
dynamic conditions of the vehicle.
The sensing system 16 is coupled to a control system 18. The
sensing system 16 preferably uses a standard yaw stability control
sensor set (including lateral accelerometer, yaw rate sensor,
steering angle sensor and wheel speed sensor) together with a roll
rate sensor and a longitudinal accelerometer. The various sensors
will be further described below. The wheel speed sensors 20 are
mounted at each corner of the vehicle, and the rest of the sensors
of sensing system 16 are preferably mounted directly on the center
of gravity of the vehicle body, along the directions x,y and z
shown in FIG. 1. As those skilled in the art will recognize, the
frame from b.sub.1, b.sub.2 and b.sub.3 is called a body frame 22,
whose origin is located at the center of .[.Do.]. gravity of the
car body, with the b.sub.1 corresponding to the x axis pointing
forward, b.sub.2 corresponding to the y axis pointing off the
driving side (to the left), and the b.sub.3 corresponding to the z
axis pointing upward. The angular rates of the car body are denoted
about their respective axes as w.sub.x for the roll rate, w.sub.y
for the pitch rate and w.sub.z for the yaw rate. The present
invention calculations preferably take place in an inertial frame
24 that may be derived from the body frame 22 as described
below.
The angular rate sensors and the accelerometers are mounted on the
vehicle car body along the body frame directions b.sub.1, b.sub.2
and b.sub.3, which are the x-y-z axes of the vehicle's sprung
mass.
The longitudinal acceleration sensor is mounted on the car body
located at the center of gravity, with its sensing direction along
b.sub.1-axis, whose output is denoted as a.sub.x. The lateral
acceleration sensor is mounted on the car body located at the
center of gravity, with its sensing direction along b.sub.2-axis,
whose output is denoted as a.sub.y.
The other frame used in the following discussion includes the road
frame, as depicted in FIG. 1. The road frame system
r.sub.1r.sub.2r.sub.3 is fixed on the driven road surface, where
the r.sub.3 axis is along the average road normal direction
computed from the normal directions of the four tire/road contact
patches.
In the following discussion, the Euler angles of the body frame
b.sub.1b.sub.2b.sub.3 with respect to the road frame
r.sub.1r.sub.2r.sub.3 are denoted as
.theta..sub.xbr,.theta..sub.ybr and .theta..sub.zbr, which are also
called the relative Euler angles.
The present invention estimates the relative Euler angles
.theta..sub.xbr and .theta..sub.ybr based on the available sensor
signals and the signals calculated form the measured values.
Referring now to FIG. 2, roll stability control system 18 is
illustrated in further detail having a controller 26 used for
receiving information from a number of sensors which may include a
yaw rate sensor 28, a speed sensor 20, a lateral acceleration
sensor 32, a roll rate sensor 34, a steering angle sensor 35, a
longitudinal acceleration sensor 36, a pitch rate sensor 37 and
steering angle position sensor 39.
In the preferred embodiment only two axial rate sensors are used.
When two of these axial rates are known, the other may be derived
using other commonly available sensors.
That is, pitch rate sensor 37 is illustrated, it can be eliminated
in the preferred embodiment.
In the preferred embodiment the sensors are located at the center
of gravity of the vehicle. Those skilled in the art will recognize
that the sensor may also be located off the center of gravity and
translated equivalently thereto.
Lateral acceleration, roll orientation and speed may be obtained
using a global positioning system (GPS). Based upon inputs from the
sensors, controller 26 may control a safety device 38. Depending on
the desired sensitivity of the system and various other factors,
not all the sensors .[.28-37.]. .Iadd.28-39 .Iaddend.may be used in
a commercial embodiment. Safety device 38 may control an airbag 40
or a steering actuator or braking actuator at one or more of the
wheels 41, 42, 44, 46 of the vehicle. Also, other vehicle
components such as a suspension control 48 may be used to adjust
the suspension to prevent rollover.
Roll rate sensor 34 and pitch rate sensor 37 may sense the roll
condition of the vehicle based on sensing the height of one or more
points on the vehicle relative to the road surface. Sensors that
may be used to achieve this include a radar-based proximity sensor,
a laser-based proximity sensor and a sonar-based proximity
sensor.
Roll rate sensor 34 and pitch rate sensor 37 may also sense the
roll condition based on sensing the linear or rotational relative
displacement or displacement velocity of one or more of the
suspension chassis components which may include a linear height or
travel sensor, a rotary height or travel sensor, a wheel speed
sensor used to look for a change in velocity, a steering wheel
position sensor, a steering wheel velocity sensor and a driver
heading command input from an electronic component that may include
steer by wire using a hand wheel or joy stick.
The roll condition may also be sensed by sensing the force or
torque associated with the loading condition of one or more
suspension or chassis components including a pressure transducer in
an act of air suspension, a shock absorber sensor such as a load
cell, a strain gauge, the steering system absolute or relative
motor load, the steering system pressure of the hydraulic lines, a
tire laterally force sensor or sensors, a longitudinal tire force
sensor, a vertical tire force sensor or a tire sidewall torsion
sensor.
The roll condition of the vehicle may also be established by one or
more of the following translational or rotational positions,
velocities or accelerations of the vehicle including a roll gyro,
the roll rate sensor 34, the yaw rate sensor 28, the lateral
acceleration sensor 32, a vertical acceleration sensor, a vehicle
longitudinal acceleration sensor, lateral or vertical speed sensor
including a wheel-based speed sensor, a radar-based speed sensor, a
sonar-based speed sensor, a laser-based speed sensor or an
optical-based speed sensor.
Steering control 38 may control the position of the front right
wheel actuator 40, the front left wheel actuator 42, the rear left
wheel actuator 44, and the right rear wheel actuator 46. Although
as described above, two or more of the actuators may be
simultaneously controlled. For example, in a rack-and-pinion
system, the two wheels coupled thereto are simultaneously
controlled. Based on the inputs from sensors 28 through 39,
controller 26 determines a roll condition and controls the steering
position of the wheels.
Speed sensor .[.30.]. .Iadd.20 .Iaddend.may be one of a variety of
speed sensors known to those skilled in the art. For example, a
suitable speed sensor may include a sensor at every wheel that is
averaged by controller 26. Preferably, the controller translates
the wheel speeds into the speed of the vehicle. Yaw rate, steering
angle, wheel speed and possibly a slip angle estimate at each wheel
may be translated back to the speed of the vehicle at the center of
gravity. Various other algorithms are known to those skilled in the
art. Speed may also be obtained from a transmission sensor. For
example, if speed is determined while speeding up or braking around
a corner, the lowest or highest wheel speed may not be used because
of its error. Also, a transmission sensor may be used to determine
vehicle speed.
Connecting the Relative Attitudes with the Relative Corner
Displacements
In operation, the method according to the present invention first
correlates the relative attitude with the displacement at each
corner of the vehicle. Consider a vector with x-y-z coordinates as
x.sub.b,y.sub.b,z.sub.b of its end point in the body frame of FIG.
1. The z coordinator of the end point of the same vector measured
in the road frame can be computed from the Euler transformation
z.sub.r=-x.sub.b sin(.theta..sub.ybr)+y.sub.b
sin(.theta..sub.xbr)cos(.theta..sub.ybr)+z.sub.b
cos(.theta..sub.xbr)cos(.theta..sub.ybr) (1)
Let l be the half of the wheel track; t.sub.f and t.sub.r be the
distances from the center of gravity of the car body to the front
and rear axles; h be the distance between the bottom of the vehicle
body and the center of gravity of the vehicle along the body
z-axis; .theta..sub.xbr and .theta..sub.ybr are the relative roll
and pitch angles. Then in the body frame the four corners of the
vehicle body where suspensions are connected with the wheel have
the following coordination: LF Corner: x=t.sub.f, y=l, z=-h RF
Corner: x=t.sub.f, y=-l, z=-h LR Corner: x=-t.sub.r, y=l, z=-h RR
Corner: x=-t.sub.r, y=-l, z=-h (2)
Let z.sub.lf,z.sub.rf,z.sub.lr and z.sub.rr be the relative
displacements of the vehicle corners at the left-front,
right-front, left-rear and right-rear locations, which are measured
along the direction perpendicular to the average road surface. By
using the transformation in Equation (1), those corner
displacements relative to the road surface can be expressed as the
function of the relative roll and pitch angles .theta..sub.xbr and
.theta..sub.ybr z.sub.lf=-t.sub.f sin(.theta..sub.ybr)+l
sin(.theta..sub.xbr)cos(.theta..sub.ybr)+(z.sub.cg-h)cos(.theta..sub.xbr)-
cos(.theta..sub.ybr) z.sub.rf=-t.sub.f sin(.theta..sub.xbr)-l
sin(.theta..sub.xbr)cos(.theta..sub.ybr)+(z.sub.cg-h)cos(.theta..sub.xbr)-
cos(.theta..sub.ybr) z.sub.lr=t.sub.r sin(.theta..sub.ybr)+l
sin(.theta..sub.xbr)cos(.theta..sub.ybr)+(z.sub.cg-h)cos(.theta..sub.ybr)-
cos(.theta..sub.ybr) z.sub.rr=t.sub.r sin(.theta..sub.ybr)-l
sin(.theta..sub.xbr)cos(.theta..sub.ybr)+(z.sub.cg-h)cos(.theta..sub.xbr)-
cos(.theta..sub.ybr) (3) where z.sub.cg is the relative
displacement of the center of gravity of the vehicle with respect
to the road surface, but measured along the body z-axis.
Referring now to FIG. 3, the four equations of Equation (3) pose
four constraints on a set of seven variables:
z.sub.lf,z.sub.rf,z.sub.lr,z.sub.rr,z.sub.cg,.theta..sub.xbr and
.theta..sub.ybr. Hence a combination of three variables can be used
to compute the rest of the variables. Since .theta..sub.xbr and
.theta..sub.ybr are of interest in the present invention, the
possible choices are choosing three variables from
z.sub.lf,z.sub.rf,z.sub.lr,z.sub.rr and z.sub.cg to characterize
.theta..sub.xbr and .theta..sub.ybr. The direct measurement of any
of z.sub.lf,z.sub.rf,z.sub.lr,z.sub.rr, and z.sub.cg is relatively
expensive (for example, expensive laser distance sensors can be
used). Hence, measuring any three of
z.sub.lf,z.sub.rf,z.sub.lr,z.sub.rr and z.sub.cg may be cost
prohibitive in a commercial environment with current technology.
However, certain linear combinations of the four corner
displacements z.sub.lf,z.sub.rf,z.sub.lr and z.sub.rr can be
related to the available sensors through dynamics. When linear
combinations are related to the relative roll and pitch Euler
angles .theta..sub.xbr and .theta..sub.ybr, .theta..sub.xbr and
.theta..sub.ybr may be characterized from the available sensor
signals. In the following, the effort has been focused on finding
those linear combinations of z.sub.lf,z.sub.rf,z.sub.lr,z.sub.rr
which bridges between .theta..sub.xbr and .theta..sub.ybr, and the
available sensor signals including the lateral and longitudinal
accelerations, the roll and yaw angular rates and the wheel speed
sensor signals.
The relative Attitudes Based on the Linear Combinations of the
Corner Displacements
The linear combinations of z.sub.lf,z.sub.rf,z.sub.lr,z.sub.rr,
which serve as bridges to connect .theta..sub.xbr and
.theta..sub.ybr with the available sensor signals are the following
variables, which are called the relative roll and pitch gradients
.THETA..times..times..times..THETA..times. ##EQU00001##
.THETA..sub.x and .THETA..sub.y is related to the relative roll and
pitch attitudes by manipulating the equations in (3). The final
formula for the relative pitch Euler angle is
.theta..sub.ybr=sin.sup.-1{.THETA..sub.y} (5) and the final formula
for the relative roll Euler angle .theta..sub.xbr is
.theta..times..THETA..function..theta. ##EQU00002##
On the other hand .THETA..sub.x and .THETA..sub.y can be further
related to the available sensor signals through dynamic equations
which describe the vehicle body dynamics. .THETA..sub.x and
.THETA..sub.y will be first broken into two portions, and related
to the sensor signals.
Roll and Pitch Gradients Due to Suspension and Wheel Motions
As shown in FIG. 4, a portion of the left front wheel 12b and
suspension 52 are illustrated, z.sub.lf can be further expressed as
the sum of the two parts: the suspension stroke s.sub.lf as
measured by sensor 50 and the wheel displacement w.sub.lf with
respect to the road surface along the direction perpendicular to
the road surface. The same is true for the rest of the corner
locations. The sensor 50 may .[.measures.]. .Iadd.measure
.Iaddend.the change in the distance from the vehicle body to the
wheel. If the four suspension strokes are
s.sub.lf,s.sub.rf,s.sub.lr and s.sub.rr, and the four wheel
vertical motions are w.sub.lf, w.sub.rf, w.sub.lr and w.sub.rr,
then: z.sub.lf=s.sub.lf+w.sub.lf z.sub.rf=s.sub.rf+w.sub.rf
z.sub.lr=s.sub.lr+w.sub.lr z.sub.rr=s.sub.rr+w.sub.rr (7)
The relative roll and pitch gradients .THETA..sub.x and
.THETA..sub.y may be broken into pieces according to the suspension
motion and the wheel vertical motion. The roll and the pitch
gradients .THETA..sub.x-susp and .THETA..sub.y-susp due to
suspension motions s.sub.lf,s.sub.rf,s.sub.lf and s.sub.rr may be
defined as: .THETA..times..times..times..THETA..times. ##EQU00003##
and the roll and pitch gradients .THETA..sub.x-whl and
.THETA..sub.y-whl due to the wheel vertical motion defined as:
.THETA..times..times..times..THETA..times. ##EQU00004## Then
.[..THETA..sub.y.THETA..sub.y-susp+.THETA..sub.y-whl.].
.[..THETA..sub.x.THETA..sub.x-susp+.THETA..sub.x-whl.].
.Iadd..THETA..sub.y=.THETA..sub.y-susp+.THETA..sub.y-whl
.THETA..sub.x=.THETA..sub.x-susp+.THETA..sub.x-whl.Iaddend.
(10)
The relative Euler angles .THETA..sub.xbr, and .THETA..sub.ybr can
be also written as two parts:
.theta..times..THETA..THETA..times..times..theta..times..THETA..THETA..ti-
mes. .function..theta. ##EQU00005##
Since there are no restrictions in Equation (11), it is valid
regardless of if the four wheels of the vehicle contact the road
surface or lift from the road, as soon as the accurate
characterization of the roll and pitch gradients .THETA..sub.x-susp
and .THETA..sub.y-susp, and .THETA..sub.x-whl and .THETA..sub.y-whl
are available. Hence in the following
.THETA..sub.x-susp,.THETA..sub.y-susp,.THETA..sub.x-whl and
.THETA..sub.y-whl may be computed based on the available sensor
signals.
Estimate the Roll and Pitch Gradients
From the formula in Equation (8), the roll and pitch gradients
.THETA..sub.x-susp and .THETA..sub.y-susp are related to the
suspension stroke. The estimation schemes are sought for computing
.THETA..sub.x-susp and .THETA..sub.y-susp from the available sensor
signals.
Consider in Equation (3) that the distance differences between the
left side corners and right side corners are equal, that is:
z.sub.lf-z.sub.rf=z.sub.lr-z.sub.rr (12) or:
s.sub.lf-s.sub.rf=s.sub.lr-s.sub.rr+[w.sub.lf-w.sub.rr-w.sub.lf+w.sub.rf]
(13) Since the tire deflections are much smaller than the
suspension stroke, from (13) it is reasonable to say
s.sub.lf-s.sub.rf>>s.sub.lr-s.sub.rr (14) or rewrite this as:
.apprxeq. ##EQU00006## Hence, for any given constant weight k, we
have: .THETA..apprxeq..kappa..function..kappa. ##EQU00007## In the
sequential discussion, the Equation (16) may be used to describe
the roll gradient .THETA..sub.x-susp.
.THETA..sub.x-susp and .THETA..sub.y-susp must then be related to
the available sensor signals. The following dynamic relationship
which are obeyed by the car body through the Newton law described
around the c.g. of the vehicle body .times..omega..times..times.
.times..times..times..times..times..times..function..times..times..times.-
.times..times..times..times..times..times..omega..times..times.
.times..function..times..times..times..times..times..times..times..times.-
.times..times..times..times. .times..times..times..times..times.
.times. ##EQU00008## where I.sub.x and I.sub.y are the momentum of
inertia of the car body with respect to the x and y axis
respectively; M.sub.s is the sprung mass (the mass of the car
body); h.sub.x is the c.g. height of the car body with respect to
the top of the suspension; K.sub.f and K.sub.r are the front and
rear suspension spring rates with unit N/m. K.sub.anti-roll-f and
K.sub.anti-roll-r are the stiffnesses for the front and the rear
anti-roll bar, with unit Nm/rad. D.sub.f and D.sub.r are the front
and the rear suspension damper rates; F.sub.xi is the ith
suspension force applied to the car body along the body fixed
direction b.sub.1, and F.sub.yi is the ith suspension force applied
to the car body along the body fixed direction b.sub.2. Define a
weight: .times..times. ##EQU00009## Since the damping rates are
usually proportional to the spring rates for suspensions, it is
reasonable to assume: .times..times..apprxeq. ##EQU00010## For a
well balanced vehicle, the normal dead loading applied to the
vehicle should not generate significant body attitude variation
when the vehicle is parked on a flat road. That is, the roll and
pitch attitude angles induced by the normal dead loading during
flat road parking should be close to zero. For this reason, it is
reasonable to assume the following holds:
t.sub.rK.sub.r=t.sub.fK.sub.f (20) Similar argument can be used for
suspension damping rates.
Through algebraic manipulation the first two equations in Equation
(17) can be rewritten as the following:
.times..omega..times..times..function..function..function..function..time-
s..times..times..omega..times..times..times..times. ##EQU00011##
Using the definition of .THETA..sub.x-susp and .THETA..sub.y-susp,
Equation (21) can be rewritten as: .[.{dot over
(w)}.sub.x=c.sub.0a.sub.y+c.sub.1.THETA..sub.x-susp+c.sub.2{dot
over (.THETA.)}.sub.x-susp.]. .[.{dot over
(w)}.sub.y=d.sub.0a.sub.x+d.sub.1.THETA..sub.y-susp+d.sub.2{dot
over (.THETA.)}.sub.y-susp.]. .Iadd.{dot over
(w)}.sub.x=c.sub.0a.sub.y+c.sub.1.THETA..sub.x-susp+c.sub.2{dot
over (.THETA.)}.sub.x-susp {dot over
(w)}.sub.y=d.sub.0a.sub.x+d.sub.1.THETA..sub.y-susp+d.sub.2{dot
over (.THETA.)}.sub.y-susp.Iaddend. (22) that is,
.THETA..sub.x-susp(t) and .THETA..sub.y-susp(t) obeys the 1.sup.st
order differential equations, and the coefficients
c.sub.0,c.sub.1,c.sub.2,d.sub.0,d.sub.1 and d.sub.2 can be obtained
by comparing Equation (21) and Equation (22). Although the
analytical solution for Equation (22) are not hard to find, the
solutions may be directly implemented in digital environment. On
the other hand, the pitch rate signal is not measured, but an
estimation of the pitch rate signal can be obtained as a function
of the measured signals and the signals computed from the measured
signals: {dot over (w)}.sub.y={circumflex over
(.theta.)}.sub.ysec({circumflex over (.theta.)}.sub.x)+w.sub.z
tan({circumflex over (.theta.)}.sub.x) (23) where {circumflex over
(.theta.)}.sub.x and {circumflex over (.theta.)}.sub.y are the
estimated global roll and pitch Euler angles of the vehicle body
(with respect to the sea level). The details if this are described
in U.S. application Ser. No. .[.09/967,938.]. .Iadd.09/967,038
.Iaddend.which is incorporated by reference herein. Using the
estimated pitch rate signal, (22) can be used to solve for
.THETA..sub.x-susp(t) and .THETA..sub.y-susp(t) at time instant t.
In the following a digital scheme will be summarized. Two variables
as defined at each sampling instant:
--.times..function..times..omega..function..times..times..times.-
--.times..function..times..omega..times..function. ##EQU00012##
Then at the (k+1)th sampling instant (current values), the
estimates of the roll and pitch gradients {circumflex over
(.THETA.)}.sub.x-susp(k+1) and {circumflex over
(.THETA.)}.sub.y-susp(k+1) may be computed from their values in the
kth sampling instant (past values) and the current and past values
of RRA_RAW and RPA_RAW. The iterative formula may be expressed as
the following with properly chosen coefficients
e.sub.0,e.sub.1,f.sub.0 and f.sub.1: {circumflex over
(.THETA.)}.sub.x-susp(k+1)=e.sub.0{circumflex over
(.THETA.)}.sub.x-susp(k)+e.sub.1[RRA_RAW(k+1)+RRA_RAW(k)]
{circumflex over (.THETA.)}.sub.y-susp(k+1)=f.sub.0{circumflex over
(.THETA.)}.sub.y-susp(k)+f.sub.1[RPA_RAW(k+1)+RPA_RAW(k)] (25)
The wheel motion-induced roll and pitch gradients are usually much
smaller than the suspension motion induced gradients due to the
small tire deflections at each wheel/tire assembly. Therefore:
.THETA..sub.x-whl<<.THETA..sub.x-susp
.THETA..sub.y-whl<<.THETA..sub.y-susp (26) or say:
.THETA..sub.x.apprxeq..THETA..sub.x-susp
.THETA..sub.y.apprxeq..THETA..sub.y-susp (27)
As described above, the present invention uses Equation (27) to
approximately calculate the roll and pitch gradients. The relative
roll and pitch attitude angles can be computed as in Equations (5)
and (6).
Referring now to FIG. 5, a flow chart summarizing the method of the
present invention is illustrated. In step 70 the sensor signals of
the sensor set are read. In the present example, a roll rate sensor
determines the roll rate of the vehicle, a lateral acceleration
sensor generates a lateral acceleration signal of the vehicle body,
and a longitudinal acceleration sensor generates a longitudinal
acceleration signal of the vehicle body. The yaw rate of the
vehicle body is also measured. In step 72, a calculated pitch rate
signal is determined from the yaw rate, the roll rate, the lateral
acceleration, and the longitudinal acceleration. In step 74 the
global roll attitude and global pitch attitude are determined from
the calculated pitch rate, the roll rate, the lateral acceleration,
and the longitudinal acceleration. In step 78 a roll gradient is
determined based upon a past roll rate and the roll rate and the
lateral acceleration signal. A relative roll angle is determined in
step 80 based upon the roll gradient. In step 82 a pitch gradient
based upon the .[.passive.]. .Iadd.past .Iaddend.raw pitch rate,
the calculated pitch rate, and the longitudinal acceleration is
determined. In step 84 the relative pitch angle based upon the
pitch gradient is determined. In step 86 a safety device is
activated in response to the relative roll angle, the relative
pitch angle, the global roll angle and the global pitch angle.
While particular embodiments of the invention have been shown and
described, numerous variations and alternate embodiments will occur
to those skilled in the art. Accordingly, it is intended that the
invention be limited only in terms of the appended claims.
* * * * *