Vehicle attitude angle estimator and method
AssigneeDelphi Technologies, Inc.
InventorJan K. Schiffmann
Life of this patent
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Abstract
An attitude angle estimator and method of estimating attitude angle of a vehicle having an angular attitude rate sensor sensing angular attitude rate of a vehicle, a vertical accelerometer sensing vertical acceleration, and a lateral accelerometer sensing lateral 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 accelerations, 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.
Claims21
A vehicle attitude angle estimator for use in a vehicle, said angle estimator comprising:
- a first accelerometer for sensing vertical acceleration of the vehicle and producing an output signal indicative thereof;
- a second accelerometer for sensing a horizontal acceleration of the vehicle and producing an output signal indicative thereof;
- and
- a controller for determining an acceleration-based attitude angle as a function of the sensed vertical acceleration and horizontal acceleration, wherein the acceleration-based attitude angle is determined absent a sensed angular attitude rate, said controller producing an attitude angle estimate as a function of the acceleration-based attitude angle.
A vehicle attitude angle estimator for use in a vehicle, said angle estimator comprising:
- an angular attitude rate sensor for sensing angular attitude rate of a vehicle and producing an output signal indicative thereof;
- a first accelerometer for sensing vertical acceleration of the vehicle and producing an output signal indicative thereof;
- a second accelerometer for sensing a horizontal acceleration of the vehicle and producing an output signal indicative thereof;
- and
- a controller for producing an attitude angle estimate as a function of said sensed attitude rate, said sensed vertical acceleration, and said sensed horizontal acceleration, wherein said controller determines an acceleration-based attitude angle as a function of the sensed vertical acceleration and horizontal acceleration, said controller further providing a blending coefficient and generating a current vehicle attitude angle estimate as a function of the updated attitude angle estimate, said acceleration-based attitude angle, and said blending coefficient.
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;
- a vertical accelerometer for sensing vertical acceleration of the vehicle and producing an output signal indicative thereof;
- a lateral accelerometer for sensing lateral acceleration of the vehicle and producing an output signal indicative thereof;
- and
- a controller for producing an attitude angle estimate and updating the 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 lateral and vertical accelerations, 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 the blending coefficient.
A method for estimating an attitude angle of a vehicle, said method comprising the steps of:
- sensing vertical acceleration of the vehicle and producing an output signal indicative thereof;
- sensing horizontal acceleration of the vehicle and producing an output signal indicative thereof;
- determining an acceleration-based attitude angle as a function of said sensed vertical and horizontal accelerations, wherein the acceleration-based attitude angle is determined absent a sensed angular attitude rate;
- and
- generating a vehicle attitude angle estimate as a function of the acceleration-based attitude angle.
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 vertical acceleration of the vehicle and producing an output signal indicative thereof;
- sensing horizontal acceleration of the vehicle and producing an output signal indicative thereof;
- generating a vehicle attitude angle estimate as a function of the sensed angular attitude rate, vertical acceleration, and horizontal acceleration;
- 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 vertical and horizontal accelerations;
- providing a blending coefficient;
- and
- generating the 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 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;
- providing a blending coefficient;
- sensing vertical acceleration of the vehicle and producing an output signal indicative thereof;
- sensing horizontal acceleration of the vehicle and producing an output signal indicative thereof;
- and
- generating a vehicle attitude angle estimate as a function of the sensed angular attitude rate, vertical acceleration, horizontal acceleration, and said blending coefficient, wherein said blending coefficient has a value in the range of 0 to 1.
Dependencies are inferred from the claim text.