Method for checking the plausibility of a rotation rate of a vehicle body of a vehicle and device for carrying out the method
AssigneeKNORR-BREMSE Systeme fuer Nutzfahrzeuge GmbH
InventorLukas Schuetz
Life of this patent
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Abstract
A computer-implemented method for checking the plausibility of a measured or determined roll rate of a vehicle body of a vehicle about a longitudinal axis of the vehicle, in which a transverse acceleration change or a transverse jerk is calculated from a measured or determined transverse acceleration in the transverse direction of the vehicle, on the basis of which plausible value or a plausible range for the roll rate is determined.
Claims9
A computer-implemented method for checking a plausibility of a measured or determined roll rate of a vehicle body of a vehicle about a longitudinal axis of the vehicle, the method comprising:
- measuring or determining the roll rate of the vehicle body;
- measuring or determining a lateral acceleration in a transverse direction of the vehicle in a vehicle-fixed coordinate system;
- calculating:
- (i) a change in the lateral acceleration or (ii) a lateral jerk as a time derivative of the lateral acceleration;
- determining a straight line with a gradient 1/g, wherein g is gravitational acceleration, wherein the straight line represents a linear dependance of the roll rate from:
- (i) the change in the lateral acceleration or (ii) the lateral jerk;
- determining a plausible range for the roll rate based on the straight line;
- determining that the measured or determined roll rate is within the plausible range for the roll rate;
- based on determining that the measured or determined roll rate is within the plausible range for the roll rate, providing the measured or determined roll rate to a vehicle dynamics control system of the vehicle;
- and
- controlling, by the vehicle dynamics control system, vehicle dynamics of the vehicle using the provided measured or determined roll rate.
A computer-implemented method for checking a plausibility of a measured or determined pitch rate of a vehicle body of a vehicle about a transverse axis of the vehicle, the method comprising:
- measuring or determining the pitch rate of the vehicle body;
- measuring or determining a lateral acceleration in a transverse direction of the vehicle in a vehicle-fixed coordinate system;
- calculating:
- (i) a change in the lateral acceleration or (ii) a lateral jerk as a time derivative of the lateral acceleration;
- determining a straight line with a gradient −1/g, wherein g is gravitational acceleration, wherein the straight line represents a linear dependance of the pitch rate from:
- (i) the change in the lateral acceleration or (ii) the lateral jerk;
- determining a plausible range for the pitch rate based on the straight line;
- determining that the measured or determined pitch rate is within the plausible range for the pitch rate;
- based on determining that the measured or determined pitch rate is within the plausible range for the pitch rate, providing the measured or determined pitch rate to a vehicle dynamics control system of the vehicle;
- and
- controlling, by the vehicle dynamics control system, vehicle dynamics of the vehicle using the provided measured or determined pitch rate.
An apparatus for checking a plausibility of a measured or determined roll rate of a vehicle body of a vehicle about a longitudinal axis of the vehicle, comprising:
- a) a sensor apparatus having at least one acceleration sensor and at least one rotation rate sensor;
- and
- b) a computing and evaluation apparatus that processes acceleration signals from the at least one acceleration sensor and the at least one rotation rate sensor;
- wherein the computing and evaluation apparatus is configured for checking the plausibility of the measured or recorded roll rate of the vehicle body of the vehicle about the longitudinal axis of the vehicle, by performing the following:
- measuring or determining the roll rate of the vehicle body;
- measuring or determining a lateral acceleration in a transverse direction of the vehicle in a vehicle-fixed coordinate system;
- calculating:
- (i) a change in the lateral acceleration or (ii) a lateral jerk as a time derivative of the lateral acceleration;
- determining a straight line with a gradient 1/g, wherein g is gravitational acceleration, wherein the straight line represents a linear dependance of the roll rate from:
- (i) the change in the lateral acceleration or (ii) the lateral jerk;
- determining a plausible range for the roll rate based on the straight line;
- checking whether the measured or determined roll rate is outside or within the plausible range for the roll rate;
- providing, depending on a result of the checking, the measured or determined roll rate to a vehicle dynamics control system of the vehicle;
- and
- controlling, by the vehicle dynamics control system, vehicle dynamics of the vehicle using the provided measured or determined roll rate.
Dependencies are inferred from the claim text.