Method for robust estimation of road bank angle
US6351694B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Jan 16, 2001 |
| Grant date | Feb 26, 2002 |
| Priority date | — |
| Expiry date | Mar 15, 2021 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB60T2210/22
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
A method for determining road bank angle in vehicle includes a lateral acceleration sensor (22) that generates a first signal corresponding to lateral acceleration. A yaw rate sensor (18) generates a second signal corresponding to a yaw rate signal. A controller (14) coupled to the sensors performs the step of calculating a first bank angle estimate dependent on the first signal, calculating a second bank angle estimate dependent on the second signal, calculating a third bank angle estimate dependent on both the first and second signals, calculating a dynamic compensation factor based as a function of the first bank angle estimate, the second bank angle estimate and the third bank angle estimate, decomposing the third bank angle estimate into a plurality of third bank angle frequency layers, reducing each of the plurality of third bank angle frequency layers in response to a multiplicative factor, said multiplicative factor being a function of the dynamic compensation factor to obtain a plurality of reduced third bank angles, and calculating a final bank angle bias estimate based on a sum of the plurality of reduced third bank angles.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.