Corner-based longitudinal speed estimation

Patent metadata

Field	Value
Publication number	US-10040460-B2
Application number	US-201615223817-A
Country	US
Kind code	B2
Filing date	Jul 29, 2016
Priority date	Jul 29, 2016
Publication date	Aug 7, 2018
Grant date	Aug 7, 2018

Abstract

A system and method for computationally estimating a directional velocity of a vehicle in real time under different configurations and road conditions for use in vehicle antilock braking, adaptive cruise control, and traction and stability control by correcting measured accelerations with respect to the estimated road angles. A time window is used to provide reliable mapped acceleration for the transient regions and maneuvers on gravel surfaces with high fluctuations in the acceleration measurement. Longitudinal and lateral accelerations are mapped from the vehicle's CG into the tire coordinates using the vehicle's geometry, lateral velocity, yaw rate, and the steering wheel angle to generate system matrices of the combined kinematic-force estimation structure.

First claim

What is claimed is:

1. A vehicle control system comprising:
a sensor for measuring a wheel speed;
a processor for determining a first acceleration at a vehicle center of gravity and for estimating a second acceleration at a vehicle corner in response to the first acceleration and the wheel speed and for estimating a third acceleration at the vehicle center of gravity in response to the second acceleration; and
a controller for controlling the vehicle in response to the third acceleration.

2. The vehicle control system of claim 1 wherein the controller is part of an adaptive cruise control system.

3. The vehicle control system of claim 1 wherein the controller is part of an antilock braking system.

4. The vehicle control system of claim 1 wherein the sensor for measuring a wheel speed if further operative to detect a high slip condition of a wheel.

5. The vehicle control system of claim 1 wherein the processor is further operative to determine a high slip condition of a wheel in response to the wheel speed, the processor further operative to apply a time based filtering to the wheel speed in order to determine a corrected wheel speed.

6. The vehicle control system of claim 5 wherein the controller is operative to control the vehicle in response to the corrected wheel speed.

7. The vehicle control system of claim 5 wherein the time based filtering is a Kalman filter.

Assignees

• Gm Global Tech Operations Llc
• Gm Global Tech Operations Llc

Inventors

• Kasaiezadeh Mahabadi SeyedAlireza
• Hashemi Ehsan
• Khajepour Amir
• Chen Shih-Ken
• Litkouhi Bakhtiar B

Classifications

• B60W30/02

  Control of vehicle driving stability · CPC title

• B60W40/10

  related to vehicle motion · CPC title

• B60W2050/0052

  Filtering, filters · CPC title

• B60W2520/105

  Longitudinal acceleration · CPC title

• B60W40/107

  Longitudinal acceleration · CPC title