Method and device for determining the inclined position of a vehicle

Patent metadata

Field	Value
Publication number	US-9605958-B2
Application number	US-201214001350-A
Country	US
Kind code	B2
Filing date	Feb 15, 2012
Priority date	Feb 23, 2011
Publication date	Mar 28, 2017
Grant date	Mar 28, 2017

Abstract

A method for determining the inclined position, includes using a sensor, whose measuring axis is inclined by a pitch angle with respect to the longitudinal axis of the vehicle, a rate of rotation having a roll rate component and a yaw rate component is measured. Ultimately, a roll angle for describing the inclined position of the vehicle is ascertained from the rate of rotation.

First claim

What is claimed is:

1. A method for determining an inclined position of a vehicle, the method comprising:
measuring, with the aid of a sensor, whose measuring axis is inclined by a fixed pitch angle with respect to a longitudinal axis of the vehicle, a rate of rotation of the vehicle, which has a roll rate component and a yaw rate component; and
ascertaining a roll angle of the vehicle from the rate of rotation.

2. The method of claim 1 , wherein the yaw rate of the vehicle is calculated, using a yaw rate model, and the roll rate is ascertained from the measured rate of rotation as a function of the calculated yaw rate.

3. The method of claim 2 , wherein the yaw rate model includes a dependence on the longitudinal speed of the vehicle.

4. The method of claim 2 , wherein the yaw rate model includes a dependence on the transverse acceleration of the vehicle.

5. The method of claim 1 , wherein the rate of rotation about a measuring axis, which does not point in a direction of the longitudinal axis or the vertical axis of the vehicle, is measured.

6. The method of claim 1 , wherein an initial value for the roll angle is selected, and the roll angle is ascertained in an iterative process.

7. The method of claim 1 , wherein a piece of information regarding the position of the roadway and/or the pitch angle of the vehicle is considered in the determination of the roll angle.

8. The method of claim 7 , wherein a piece of information regarding the position of at least one of the roadway and the pitch angle of the vehicle is ascertained from a signal of at least one of at least one acceleration sensor and at least one wheel speed sensor.

9. The method of claim 1 , wherein a piece of information regarding the change in position of the roadway and/or in the pitch angle of the vehicle is considered in the determination of the roll angle.

10. The method of claim 9 , wherein a piece of information regarding the change in at least one of the position of the roadway and the pitch angle of the vehicle is ascertained from a signal of at least one rotation rate sensor.

11. The method of claim 1 , wherein it is used for determining the inclined position of a two-wheeled vehicle.

12. A processing unit for determining an inclined position of a vehicle, comprising:
a measuring arrangement to measure, with the aid of a sensor, whose measuring axis is inclined by a fixed pitch angle with respect to a longitudinal axis of the vehicle, a rate of rotation of the vehicle, which has a roll rate component and a yaw rate component; and
an ascertaining arrangement to ascertain a roll angle of the vehicle from the rate of rotation.

Assignees

• Lemejda Markus
• Bosch Gmbh Robert

Inventors

• Lemejda Markus

Classifications

• B60W2050/0028

  Mathematical models, e.g. for simulation · CPC title

• B60W40/12 Primary

  related to parameters of the vehicle itself {, e.g. tyre models} · CPC title

• B60W2520/10

  Longitudinal speed · CPC title

• B60W2420/90

  Single sensor for two or more measurements · CPC title

• B60W2520/16

  Pitch · CPC title