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US 8,898,033 B2Granted
Vehicle stability systems and methods
AssigneeGM Global Technology Operations LLC
InventorsNikolai K. Moshchuk, Ivan Fadeev
Life of this patent
Estimating the term…
Abstract
Systems and methods for determining angular velocity of a vehicle. Systems include an array of accelerometers and a computing unit configured to determine angular velocity as a function of acceleration measured by the array of accelerometers. Angular velocity can then be used, for example, by stability systems to control the vehicle.
Claims20
A system, for determining an angular velocity of a moving vehicle, comprising:
- an array of accelerometers connected to the vehicle and configured to measure tangential accelerations and normal accelerations at points of the vehicle;
- and
- a computing unit configured to receive acceleration measurements from the array of accelerometers, the computing unit comprising:
- a processor;
- and
- at least one software module comprising computer readable instructions that, when executed by the processor, cause the processor to determine the angular velocity of the vehicle by:
- determining a centripetal acceleration as a function of normal acceleration measurements;
- determining an angular acceleration as a function of tangential acceleration measurements;
- determining a currently predicted angular velocity as a function of a previously predicted angular velocity and the angular acceleration;
- determining a correction factor as a function of the centripetal acceleration, a gain, and the previously predicted angular velocity;
- and
- determining a corrected predicted angular velocity as a function of the currently predicted angular velocity and the correction factor.
9 more elements
A non-transitory computer readable storage medium, comprising:
- acceleration measurements received from an array of accelerometers positioned on a vehicle;
- and
- at least one software module comprising computer readable instructions that, when executed by a processor, cause the processor to determine an angular velocity of the vehicle by:
- determining a centripetal acceleration as a function of normal acceleration measurements measured by the array;
- determining an angular acceleration as a function of tangential acceleration measurements measured by the array;
- determining a currently predicted angular velocity as a function of a previously predicted angular velocity and the angular acceleration;
- determining a correction factor as a function of the centripetal acceleration, a gain, and a previously predicted angular velocity;
- and
- determining a corrected predicted angular velocity as a function of the currently predicted angular velocity and the correction factor.
6 more elements
A method of determining angular velocity, comprising:
- measuring tangential accelerations and normal accelerations at points of a vehicle with an array of accelerometers connected to the vehicle;
- with a computing unit:
- determining a centripetal acceleration as a function of normal acceleration measurements;
- determining an angular acceleration as a function of tangential acceleration measurements;
- determining a currently predicted angular velocity as a function of a previously predicted angular velocity and the angular acceleration;
- determining a correction factor as a function of the centripetal acceleration, a gain, and the previously predicted angular velocity;
- and
- determining a corrected predicted angular velocity as a function of the currently predicted angular velocity and the correction factor.
5 more elements
Dependencies are inferred from the claim text.