Vehicle Roll Angle Estimation via Dynamic Sensor Feedback
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Solution Overview
Problem
Existing methods for estimating the roll angle of a vehicle body, such as in motorcycles, face inaccuracies during slalom riding or turning motions due to non-constant roll angles, leading to significant errors in roll angle estimation.
Innovation Solution
A device utilizing acceleration and angular velocity sensors, vehicle speed detection, pitch angle estimation, roll angle velocity estimation, correction value calculation, and roll angle estimate value calculation to accurately estimate the roll angle by integrating sensor data and feedback control mechanisms, effectively reducing errors across various vehicle movements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the roll angle is estimated by correcting the roll rate detection value using a correction amount calculated from centrifugal force and gravity moments, then the roll angle estimation is improved in steady-state turning conditions, but the estimation accuracy deteriorates during slalom riding or transient turning motions when the roll angle is not constant
Solution Approach 1:
The invention transitions from a static correction method (based on steady-state moment balance) to a dynamic estimation method that adapts to changing vehicle states. The new approach uses real-time detection values of vehicle speed, yaw rate, and roll rate to dynamically calculate the correction amount, allowing the system to accurately estimate roll angles during both steady-state turning and transient motions like slalom riding.
Solution Approach 2:
The invention implements a feedback mechanism where the correction amount is continuously calculated based on current detection values of vehicle speed, yaw rate, and roll rate. This feedback loop allows the system to adjust the roll angle estimation in real-time according to the actual vehicle movement state, improving both accuracy and adaptability across different driving conditions.
2Device complexity
If a simple correction method based on moment balance is used, then the device complexity is reduced, but the measurement precision deteriorates during non-constant roll angle conditions
Solution Approach 1:
The invention changes the parameters used for correction from static moment balance values to dynamic parameters including real-time vehicle speed, yaw rate, and roll rate detection values. This parameter change enables the system to maintain simple computational structure while achieving high accuracy across various vehicle movement states by using readily available sensor data.
Data Source
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AI summary
To provide a device that can stably and accurately estimate the roll angle of a vehicle body during various states of movement of the vehicle body. [Means for solving the problems] A roll angle estimate value calculation portion 14 calculates an estimate value of the roll angle by integrating a value obtained by correcting an estimate value of roll angle velocity of a vehicle body 101 by use of a correction value, or by correcting a value obtained by integrating an estimate value of roll angle velocity by use of a correction value. The correction value is calculated by use of a detection value of speed of the vehicle body 101 in the traveling direction, detection values of angular velocity and acceleration detected by sensors mounted on the vehicle body 101, a previous estimate value of the roll angle, and a previous estimate value of the pitch angle of the vehicle body 101.