Vehicle Sideslip Angle Estimation With Compensated Lateral Acceleration
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Solution Overview
Problem
Existing vehicle state estimator models, including those for sideslip angle estimation, face inaccuracies due to variations in road conditions and nonlinearities in vehicle motion, such as roll and pitch, and are dependent on specific tire types, making them unreliable for real-time applications.
Innovation Solution
A vehicle sideslip estimation system utilizing a CAN bus system with sensors and a kinematic model that estimates lateral velocity and calculates sideslip angle, incorporating a compensated acceleration calculator to correct for errors and a filter to account for road conditions and nonlinearities, allowing for real-time estimation independent of tire type.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a complex sensor system is used to measure sideslip angle, then measurement accuracy is improved, but system cost and complexity increase
Solution Approach 1:
The patent creates a virtual copy of the physical sideslip angle measurement by using a kinematic model that replicates the behavior of complex sensor systems through mathematical relationships. The model uses easily measurable parameters (steering wheel angle, vehicle speed, lateral acceleration, yaw rate) to compute an estimated sideslip angle that mirrors what a complex sensor system would measure, thereby achieving accurate measurement without the complexity and cost of sophisticated sensors
2Device complexity
If prior art estimation strategies are used, then system complexity is reduced, but accuracy deteriorates due to inability to account for road conditions and nonlinearities
Solution Approach 1:
The patent implements feedback mechanisms where the estimated sideslip angle and lateral velocity are continuously refined by comparing model predictions with actual sensor measurements. The kinematic model uses feedback from measured parameters to adjust and correct its estimates, allowing the system to account for road conditions and nonlinearities while maintaining computational efficiency and avoiding excessive complexity
Solution Approach 2:
The patent dynamically adjusts model parameters based on operating conditions to maintain accuracy across different road surfaces and vehicle states. By changing parameters such as friction coefficients and damping values based on detected conditions, the estimation system adapts to varying road conditions and nonlinearities without requiring a completely complex system architecture
3Measurement precision
If estimation models are tailored to specific tire types, then accuracy for those tires is improved, but adaptability to different tire types deteriorates
Solution Approach 1:
The patent designs a universal kinematic model that can estimate sideslip angle accurately for multiple tire types without requiring tire-specific calibration. The model uses fundamental vehicle dynamics relationships that are independent of tire characteristics, allowing it to function universally across different tire configurations while maintaining accuracy through its robust mathematical framework and feedback mechanisms
Data Source
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AI summary
A vehicle sideslip estimation system (10) and method is disclosed. The system (10) a vehicle (12) including a controlled area network (CAN) bus system (16); sensors (18) mounted on the vehicle (12) in communication with the CAN bus system (16); a kinematic model (28) in communication with the CAN bus system (16), the kinematic model (28) being configured for receiving signals from the sensors (18) as inputs, wherein the kinematic model (28) is configured for estimating a lateral velocity of the vehicle (12) based on the inputs, the inputs including a measured vehicle lateral acceleration and a vehicle longitudinal velocity; a compensated acceleration calculator (32) in communication with the CAN bus system (16) to calculate a compensated vehicle lateral acceleration as a measure of conditions that result in a deviation of the measured vehicle lateral acceleration; a lateral acceleration calculator (34) in communication with the CAN bus system (16) to determine, based on the compensated vehicle lateral acceleration and the measured vehicle lateral acceleration, if a lateral acceleration error is larger than a predefined threshold; a filter (40) in communication with the CAN bus system (16) to correct the estimated lateral velocity of the vehicle (12) when the lateral acceleration error is larger than the predefined threshold; a velocity output register (42) in communication with the CAN bus system (16) to register the estimated lateral velocity of the vehicle (12) when the lateral acceleration error is smaller than or equal to the predefined threshold; and a sideslip calculator (44) in communication with the CAN bus system (16) to calculate a sideslip angle of the vehicle (12) in real time from the registered lateral velocity of the vehicle and the vehicle longitudinal velocity.