System and method for estimating lateral acceleration
AssigneeClearMotion, Inc.
InventorNicholas James Solomon
Life of this patent
Estimating the term…
Abstract
Methods are provided for controlling various systems in a vehicle based on input signals from at least one physical sensor and at least one model of a vehicle or a portion of the vehicle. The controller may rely preferentially on one or the other inputs based on the frequency of a motion of the vehicle and the state of the vehicle or one or more portions of the vehicle.
Claims24
A method for estimating a lateral acceleration of a vehicle, the method comprising:
- generating a first signal based on a measurement from a sensor at time T;
- computing the lateral acceleration of the vehicle with a model at the time T;
- generating a second signal based on the computation at the time T;
- generating an error signal based on a difference between the first signal and the second signal at the time T;
- filtering the error signal to generate a filtered signal;
- and
- estimating the lateral acceleration based on a sum of the filtered signal and the second signal.
A method for operating a system of a vehicle, the method comprising:
- estimating a lateral acceleration of the vehicle, wherein in a first operating mode, the estimate of the lateral acceleration is based primarily on a measurement with a sensor on the vehicle, and wherein in a second operating mode, the estimate of the lateral acceleration is based primarily on a mathematical model of the vehicle;
- and
- operating the system of the vehicle at least partially based on the estimate of the lateral acceleration;
- wherein in the first operating mode and the second operating mode the estimating is based at least partially on a filtered signal using a low-pass filter.
A method for operating a system in a vehicle undergoing lateral acceleration, the method comprising:
- producing a first signal representative of the lateral acceleration with a sensor that is sensitive to the lateral acceleration;
- producing a second signal representative of the lateral acceleration using a mathematical model of the vehicle;
- producing an error signal based on a difference between the first signal and the second signal;
- filtering, using a low-pass filter, the error signal to produce a filtered error signal and adding the filtered error signal to the second signal to produce an estimate of the lateral acceleration;
- and
- operating the system at least partially based on the estimate.
A method of operating a microprocessor-based controller of a system in a moving vehicle, the method comprising:
- determining a first value of a motion parameter with a sensor on-board the moving vehicle;
- determining a second value of the motion parameter with a model of at least a portion of the moving vehicle;
- determining a difference between the first value and the second value;
- filtering the difference using a low-pass filter;
- and
- based at least partially on the filtered difference, determining an estimated value of a motion parameter.
Dependencies are inferred from the claim text.