BANK ANGLE ESTIMATION VIA VEHICLE LATERAL VELOCITY WITH FORCE TABLES
A method for road bank detection that has particular application in vehicle stability control systems and vehicle roll-over avoidance systems. The method for detection of a road bank includes obtaining a yaw rate value and a front and/or rear axle force value for a vehicle travelling on the road. It further includes comparing the obtained vehicle yaw rate value with a corresponding predetermined vehicle yaw rate value to obtain a vehicle yaw rate error value and comparing the obtained vehicle front and/or rear axle force value with a corresponding predetermined vehicle front and/or rear axle force value to obtain a vehicle front and/or rear axle force error value, and detecting the road bank based on the obtained vehicle yaw rate error value and the vehicle front and/or rear axle force error value.
1 . A method for detecting a road bank, said method comprising:
obtaining a vehicle yaw rate value and a front and/or rear axle force value for a vehicle travelling on the road;
comparing the obtained vehicle yaw rate value with a predetermined vehicle yaw rate value to obtain a vehicle yaw rate error value and comparing the obtained vehicle front and/or rear axle force value with a predetermined vehicle front and/or rear axle force value to obtain a vehicle front and/or rear axle force error value; and
detecting the road bank based on the vehicle yaw rate error value and the vehicle front and/or rear axle force error value.
2 . The method according to claim 1 wherein the vehicle yaw rate value is obtained using a yaw rate sensor.
3 . The method according to claim 1 wherein the vehicle front and/or rear axle force value is obtained using an electronic stability control (ESC) system sensor.
4 . The method according to claim 1 wherein the predetermined vehicle yaw rate value is estimated using a bicycle model.
5 . The method according to claim 1 wherein the predetermined vehicle front and/or axle force value is obtained based on an arranged set of data, wherein the arranged set of data is a representation of a set of vehicle front and/or rear axle lateral force values corresponding to a set of vehicle slip angle values.
6 . The method according to claim 5 wherein the arranged set of data is provided in a table.
7 . The method according to claim 5 wherein the arranged set of data is provided by a graph.
8 . A method for detecting of a road bank, said method comprising:
obtaining a rate of change of lateral velocity of a vehicle travelling on the road using an arranged set of data;
calculating a rate of change of lateral velocity of the vehicle using an electronic stability control (ESC) system sensor;
comparing the obtained rate of change of lateral velocity and the calculated rate of change of lateral velocity; and
detecting the banking of the road based on the comparison between the obtained rate of change of lateral velocity and the calculated rate of change of lateral velocity.
9 . The method according to claim 8 wherein the arranged set of data is a representation of a set of vehicle front and/or rear axle lateral force values corresponding to a set of vehicle slip angle values.
10 . The method according to claim 9 wherein the arranged set of data is provided in a table.
11 . The method according to claim 9 wherein the arranged set of data is provided by a graph.
12 . A method for detecting a road bank, and for compensating yaw rate and lateral velocity for facilitating stability control of a vehicle travelling on the road, said method comprising:
obtaining a yaw rate value and a front and/or rear axle force value for the vehicle;
comparing the vehicle yaw rate value with a predetermined vehicle yaw rate value to obtain a vehicle yaw rate error value and comparing the vehicle front axle force value with a predetermined vehicle front and/or rear axle force value to obtain a vehicle front axle force error value;
detecting the bank of the road based on the obtained vehicle yaw rate error value and the front and/or rear axle force error value;
calculating a banking angle of the road based on the obtained vehicle yaw rate error value and the vehicle front and/or rear axle force error value; and
compensating the vehicle yaw rate and the vehicle lateral velocity based on the banking angle of the road.
13 . The method according to claim 12 wherein the vehicle yaw rate value is obtained using a yaw rate sensor.
14 . The method according to claim 12 wherein the vehicle front axle force value is obtained using an electronic stability control (ESC) system sensor.
15 . The method according to claim 12 wherein the predetermined vehicle yaw rate value is estimated using a bicycle model.
16 . The method according to claim 12 wherein the predetermined set of vehicle front axle force value is obtained from an arranged set of data, the arranged set of data being a representation of a set of vehicle front and/or rear axle lateral force values corresponding to a set of vehicle slip angle values.
17 . The method according to claim 16 wherein the arranged set of data is provided in a table.
18 . The method according to claim 16 wherein the arranged set of data is provided by a graph.
19 . The method according to claim 12 wherein the vehicle yaw rate and the vehicle lateral velocity are compensated by application of brakes on wheels of the vehicle.
20 . The method according to claim 12 wherein the vehicle yaw rate and vehicle lateral velocity are compensated by reducing power of an engine of the vehicle.