Sensor Error Correction for Vehicle Roll Angle Estimation
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Solution Overview
Problem
Existing sensor systems fail to accurately correct errors in lateral acceleration sensors, particularly when a vehicle is on a road with a cant or bank, leading to deviations in the estimated direction or azimuth, which affects the accuracy of roll angle estimation.
Innovation Solution
A sensor error correcting apparatus and method that utilizes a yaw rate gyro, wheel speed sensor, and lateral acceleration sensor to estimate a roll angle and convert yaw rate to a horizontal yaw rate, then compares the azimuth change from integrating this horizontal yaw rate with the azimuth change from the velocity vector to correct the measured lateral acceleration, effectively addressing errors in the lateral acceleration sensor.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the roll angle is estimated from lateral acceleration of the vehicle, then the roll angle estimation can be obtained, but it is hard to correct an error in a lateral acceleration sensor configured to measure the lateral acceleration
Solution Approach 1:
The patent introduces an intermediary correction value that mediates between the lateral acceleration sensor output and the roll angle estimation. The correction value, derived from comparing integrated horizontal yaw rate with velocity vector azimuth change, acts as a mediator to compensate for sensor errors without requiring direct sensor replacement or complex recalibration
Solution Approach 2:
The patent implements a feedback mechanism where the estimated roll angle and horizontal yaw rate are continuously integrated and compared with velocity vector data. The deviation detected through this feedback loop generates a correction value that is applied back to the lateral acceleration measurements, creating a closed-loop error correction system
2Loss of information
If the direction or azimuth associated with the path of the vehicle is obtained when the vehicle runs on a road with a cant or a bank, then the path information is available, but the obtained direction or azimuth is deviated from an actual direction or azimuth
Solution Approach 1:
The patent transforms the measurement parameters by converting yaw rate to horizontal yaw rate using the estimated roll angle. This parameter transformation compensates for the vehicle's tilted state on cant or banked roads, allowing accurate azimuth calculation despite the vehicle's inclined position
Data Source
AI summary
A sensor error correcting apparatus is provided with: a roll angle estimator configured to estimate a roll angle on the basis of a yaw rate of a moving body, a wheel speed, and lateral acceleration; a converter configured to convert the yaw rate to a horizontal yaw rate, on the basis of an estimated roll angle; and a zero point corrector configured to compare an azimuth change amount obtained by integrating the horizontal yaw rate in a turning period, which is from a start of turning of the moving body to an end of the turning, with an azimuth change amount of the velocity vector in the turning period, and configured to correct the measured lateral acceleration.