System for estimating vehicle states for rollover reduction
AssigneeGM Global Technology Operations LLC
InventorJihua Huang
Life of this patent
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Abstract
A system and method for estimating vehicle states, such as vehicle roll-rate, vehicle roll angle, vehicle lateral velocity and vehicle yaw-rate, for use in rollover reduction. The system includes an extended Kalman filter observer responsive to a steering angle signal, a yaw-rate signal, a roll-rate signal, a speed signal and a lateral acceleration signal that calculates an estimated yaw-rate signal, an estimated roll-rate, an estimated roll angle and an estimated lateral velocity. The system also includes a lateral velocity estimation processor responsive to the roll-rate signal, the estimated roll angle signal, the estimated lateral velocity signal and the lateral acceleration signal that calculates a modified lateral velocity estimation signal when the vehicle is operating in a non-linear region.
Claims22
A system for estimating vehicle states of yaw-rate, roll-rate, roll angle and lateral velocity, said system comprising:
- a steering angle sensor providing a steering angle signal of a steering angle of the vehicle;
- a yaw-rate sensor for providing a yaw-rate signal of the yaw-rate of the vehicle;
- a roll-rate sensor for providing a roll-rate signal of the roll-rate of the vehicle;
- a speed sensor for providing a speed signal of the speed of the vehicle;
- a lateral acceleration sensor for providing a lateral acceleration signal of the lateral acceleration of the vehicle;
- a Kalman filter observer responsive to the steering angle signal, the yaw-rate signal, the roll-rate signal, the speed signal and the lateral acceleration signal, said observer using Kalman filtering to provide an estimated yaw-rate signal, an estimated roll-rate, an estimated roll angle and an estimated lateral acceleration;
- and
- a lateral velocity estimation processor responsive to the roll-rate signal, the estimated roll angle signal, the estimated lateral velocity signal and the lateral acceleration signal, said lateral velocity estimation processor calculating a modified lateral velocity estimation signal when the vehicle is operating in a non-linear region.
A system for estimating vehicle states, said system comprising:
- a plurality of sensors for measuring vehicle states and providing sensor signals;
- a Kalman filter observer responsive to sensor signals, said observer providing estimated vehicle states;
- and
- a lateral velocity estimation processor responsive to some of the sensor signals and some of the estimated vehicle states, said lateral velocity estimation processor calculating a modified lateral velocity estimation signal when the vehicle is operating in a non-linear region.
A system for estimating vehicle states, said system comprising:
- a plurality of sensors for measuring vehicle states and providing sensor signals;
- and
- a Kalman filter observer responsive to sensor signals, said observer providing estimated vehicle states, said Kalman filter observer changing a covariance matrix in the filter when the vehicle goes from a linear to a non-linear operating region.
A system for estimating vehicle states, said system comprising:
- a plurality of sensors for measuring vehicle states and providing sensor signals;
- a sensor pre-filtering processor responsive to the sensor signals, said sensor pre-filtering processor filtering out a low-frequency component of the signals, and estimating a sensor bias based on the low-frequency component;
- and
- a Kalman filter observer responsive to filtered sensor signals, said observer providing estimated vehicle states.
Dependencies are inferred from the claim text.