Vehicle attitude angle estimation using sensed signal blending
AssigneeDelphi Technologies, Inc.
InventorJan Konried Schiffmann
Life of this patent
Estimating the term…
Abstract
An attitude angle estimator and method of estimating attitude angle of a vehicle. According to one embodiment, an angular attitude rate sensor senses angular attitude rate of a vehicle, and an accelerometer detects lateral or longitudinal acceleration. An attitude angle estimate is produced and is updated as a function of the sensed angular attitude rate. An acceleration-based attitude angle is determined as a function of the sensed acceleration, and a blending coefficient is provided. A *current vehicle attitude angle estimate is generated as a function of the updated attitude angle estimate, the acceleration-based attitude angle, and the blending coefficient. According to a second embodiment, both a roll angle estimate and a pitch angle estimate are determined.
Claims25
A method for estimating an attitude angle of a vehicle, said method comprising the steps of:
- sensing angular attitude rate of a vehicle and producing an output signal indicative thereof;
- sensing one of lateral and longitudinal acceleration of the vehicle and producing an output signal indicative thereof;
- producing an attitude angle estimate;
- updating said attitude angle estimate as a function of said sensed angular attitude rate;
- determining an acceleration-based attitude angle as a function of said sensed acceleration;
- providing a blending coefficient;
- and
- generating a current vehicle attitude angle estimate as a function of said updated attitude angle estimate, said acceleration-based attitude angle, and said blending coefficient.
A method for estimating a roll angle of a vehicle, said method comprising the steps of:
- sensing angular roll rate of a vehicle and producing an output signal indicative thereof;
- sensing lateral acceleration of the vehicle and producing an output signal indicative thereof;
- producing a roll angle estimate;
- updating said roll angle estimate as a function of said sensed angular roll rate;
- determining an acceleration-based roll angle as a function of said sensed lateral acceleration;
- providing a roll blending coefficient;
- and
- further updating said roll angle estimate as a function of said acceleration-based roll angle and said roll blending coefficient to generate a current vehicle roll angle estimate.
A vehicle attitude angle estimator for use in a vehicle, said vehicle angle estimator comprising:
- an angular attitude rate sensor for sensing angular attitude rate of a vehicle and producing an output signal indicative thereof;
- an accelerometer for detecting one of lateral and longitudinal acceleration of the vehicle and producing an output signal indicative thereof;
- a controller for producing an attitude angle estimate and updating said attitude angle estimate as a function of said sensed angular attitude rate;
- said controller determining an acceleration-based attitude angle as a function of said sensed acceleration, said controller further providing a blending coefficient and generating a current vehicle attitude angle estimate as a function of said updated attitude angle estimate, said acceleration-based attitude angle, and said blending coefficient.
Dependencies are inferred from the claim text.