US5809434A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Method and apparatus for dynamically determically determining an operating state of a motor vehicle
Assignee: Ford Global Technologies LLC
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Filing: 1996-04-26
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Granted: 1998-09-15
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Expires: 2016-04-26
Abstract
Abstract A system for dynamically determining an operating state of a motor vehicle for input to a controller employed to control dynamics of the motor vehicle includes sensors for measuring predetermined vehicle operating state. The system also includes a device for predicting a value for the predetermined operating state, which can then be used to determine a correction factor for the measured operating state signal. This correction factor is proportional to the erroneous component of the measured vehicle operating state. Together, measured operating state and the correction signal are used to obtain a compensated operating state signal. This is particularly useful for reducing the effects of sensor drift and DC offset.
Inventors
- 👤 Behrouz Ashrafi
- 👤 Darrel Alan Recker
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-04 20:56
CPC Classifications
B; B60; B60T; B60T8/00; B60T8/17; B60T8/172; B60G; B60G17/00; B60G17/015; B60G17/018; B60G17/019; B60G17/0195; B60G2400/00; B60G2400/10; B60G2400/104; B60G2400/20; B60G2400/208; B60G2400/40; B60G2400/41; B60G2400/80; B60G2400/82; B60G2400/822; B60G2600/00; B60G2600/02; B60G2600/04; B60G2600/08; B60G2600/14; B60G2600/16; B60G2600/44; B60G2600/60; B60G2600/604; B60G2600/70; B60G2600/90; B60G2800/00; B60G2800/01; B60G2800/012; B60G2800/21; B60G2800/212; B60G2800/24; B60G2800/90; B60G2800/92; B60T2250/00; B60T2250/06
Claims Analysis
Total Claims: 15
Claim 1
Independent Claim
148 words
A system for dynamically determining an operating state of a motor vehicle for input to a controller employed to control dynamics of the motor vehicle, said system comprising: operating state measuring means comprising means for producing a first signal corresponding to an operating state of said automotive vehicle; operating state predictor means comprising means for producing a second signal representing a prediction of said operating state; correction means comprising means for producing a third signal representing an erroneous component of said first signal; and compensator means for removing said third signal from said first signal to obtain a fourth signal which accurately represents said operating state and providing said fourth signal to said controller, wherein said correction means updates said third signal when said vehicle is operating in a predetermined state and does not update said third signal when said vehicle is not operating in said predetermined state.
Claim 2
Independent Claim
148 words
A system for dynamically determining an operating state of a motor vehicle for input to a controller employed to control dynamics of the motor vehicle, said system comprising: operating state measuring means comprising means for producing a first signal corresponding to an operating state of said automotive vehicle; operating state predictor means comprising means for producing a second signal representing a prediction of said operating state; correction means comprising means for producing a third signal representing an erroneous component of said first signal; and compensator means for removing said third signal from said first signal to obtain a fourth signal which accurately represents said operating state and providing said fourth signal to said controller, wherein said correction means updates said third signal when said vehicle is operating in a predetermined state and does not update said third signal when said vehicle is not operating in said predetermined state.
Claim 3
Dependent Claim
52 words
A system according to claim 1 wherein said correction means determines said third signal according to the following relationship: Corr.sub.r =W(s)(f.sub.meas -f.sub.pred) where: Corr r =the error component represented by said third signal; W(s)=transfer function having the form ##EQU8## f meas =first signal, as measured; and f pred =second signal, as predicted.
Claim 4
Independent Claim
165 words
A system for dynamically determining a yaw rate of a motor vehicle for input to a controller employed to control dynamics of the motor vehicle, said system comprising: right wheel speed measuring means for producing a right wheel speed signal corresponding a right wheel road speed; left wheel speed measuring means for producing a left wheel speed signal corresponding a left wheel road speed; yaw rate measuring means comprising means for producing a first signal corresponding to a measured yaw rate of said motor vehicle; yaw rate predictor means comprising means for producing a second signal using said right and left wheel speed signals, said second signal thereby representing a predicted yaw rate of said motor vehicle; correction means comprising means for producing a third signal representing an erroneous component of said first signal; and compensator means for removing said third signal from said first signal to obtain a fourth signal which accurately represents said yaw rate and providing said fourth signal to said controller.
Claim 5
Independent Claim
165 words
A system for dynamically determining a yaw rate of a motor vehicle for input to a controller employed to control dynamics of the motor vehicle, said system comprising: right wheel speed measuring means for producing a right wheel speed signal corresponding a right wheel road speed; left wheel speed measuring means for producing a left wheel speed signal corresponding a left wheel road speed; yaw rate measuring means comprising means for producing a first signal corresponding to a measured yaw rate of said motor vehicle; yaw rate predictor means comprising means for producing a second signal using said right and left wheel speed signals, said second signal thereby representing a predicted yaw rate of said motor vehicle; correction means comprising means for producing a third signal representing an erroneous component of said first signal; and compensator means for removing said third signal from said first signal to obtain a fourth signal which accurately represents said yaw rate and providing said fourth signal to said controller.
Claim 6
Dependent Claim
59 words
A system according to claim 3 wherein said correction means determines said third signal according to the following relationship: Corr.sub.r =W(s)(f.sub.meas -f.sub.pred) where: Corr r =the error component represented by said third signal; W(s)=transfer function having the form ##EQU9## r meas =first signal representing the measured vehicle yaw rate; and r pred =second signal representing the predicted yaw rate.
Claim 7
Dependent Claim
60 words
A system according to claim 3 wherein said second signal, representing said predicted yaw rate of said motor vehicle is determined according to the following relationship: ##EQU10## r pred =second signal representing the predicted yaw rate; L ws =Left wheel speed; R ws =Left wheel speed; and Cf=distance from the vehicle centerline to the center of the tire contact patch.
Claim 8
Dependent Claim
40 words
A system according to claim 3 wherein said correction means updates said third signal when said vehicle is operating in a predetermined state and does not update said third signal when said vehicle is not operating in said predetermined state.
Claim 9
Dependent Claim
48 words
A system according to claim 3 wherein said correction means updates said third signal when an ABS event flag is set false and does not update said third signal when said ABS event flag is set true, thereby ignoring right and left wheel speed signals during ABS events.
Claim 10
Independent Claim
119 words
A method for dynamically determining a yaw rate of a motor vehicle for input to a controller employed to control dynamics of the motor vehicle, said method comprising the steps of: measuring a right wheel speed and producing a right wheel speed signal; measuring a left wheel speed and producing a left wheel speed signal; measuring a measured yaw rate and producing a first signal corresponding thereto; predicting a predicted yaw rate and producing a second signal corresponding thereto; producing a third signal representing an erroneous component of said first signal; and dynamically compensating said first signal by subtracting said third signal therefrom, thereby producing a fourth signal which accurately represents said yaw rate for use by said controller.
Claim 11
Independent Claim
119 words
A method for dynamically determining a yaw rate of a motor vehicle for input to a controller employed to control dynamics of the motor vehicle, said method comprising the steps of: measuring a right wheel speed and producing a right wheel speed signal; measuring a left wheel speed and producing a left wheel speed signal; measuring a measured yaw rate and producing a first signal corresponding thereto; predicting a predicted yaw rate and producing a second signal corresponding thereto; producing a third signal representing an erroneous component of said first signal; and dynamically compensating said first signal by subtracting said third signal therefrom, thereby producing a fourth signal which accurately represents said yaw rate for use by said controller.
Claim 12
Dependent Claim
71 words
A method according to claim 8, whereby said step of producing a third signal representing an erroneous component of said first signal includes obtaining said third signal by the following relationship: Corr.sub.r =W(s)(r.sub.meas -r.sub.pred) where: Corr r =the error component represented by said third signal; W(s)=transfer function having the form ##EQU11## r meas =first signal representing the measured vehicle yaw rate; and r pred =second signal representing the predicted yaw rate.
Claim 13
Dependent Claim
64 words
A method according to claim 8, wherein said step of predicting a predicted yaw rate and producing a second signal includes obtaining the second signal by the following relationship: ##EQU12## where: r pred =second signal representing the predicted yaw rate; L ws =Left wheel speed; R ws =Left wheel speed; and Cf=distance from the vehicle centerline to the center of the tire contact patch.
Claim 14
Dependent Claim
52 words
A method according to claim 8, wherein said step of producing said third signal representing said erroneous component of said first signal further comprises the steps of: determining whether the vehicle is operating in a predetermined state; and updating said third signal only when said vehicle is operating in said predetermined state.
Claim 15
Dependent Claim
55 words
A method according to claim 11, wherein said step of determining whether the vehicle is operating in a predetermined state includes monitoring an ABS event flag, which is set false to indicate when said vehicle is operating within said predetermined state and true to indicate when said vehicle is operating outside of said predetermined state.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2001-09-14 | 2002-03-16 | 2002-09-15 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2005-09-14 | 2006-03-16 | 2006-09-15 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2009-09-14 | 2010-03-16 | 2010-09-15 | $7700.00 | Window Closed / Lapsed |