Title:
AUTOMOTIVE CONTROL UNIT PROGRAMMED TO ESTIMATE ROAD SLOPE AND VEHICLE MASS, VEHICLE WITH SUCH A CONTROL UNIT AND CORRESPONDING PROGRAM PRODUCT THEREFORE
Document Type and Number:
WIPO Patent Application WO/2015/004639
Kind Code:
A3
Abstract:
Automotive electronic control unit programmed to realtime estimate either or both of vehicle mass and road slope, wherein; a. road slope, is estimated; al. when vehicle is considered stopped based on an accelerometer signal indicative of vehicle acceleration, wherein the vehicle is considered stopped in the presence of substantially zero values of a speed signal indicative of vehicle speed, and a2. when vehicle is in rectilinear and curvilinear motion by implementing a road slope observer based on a linear Kalman filter, which is designed to: a21. operate based on signals indicative of vehicle speed and acceleration, and a22. compensate for accelerometric disturbances due to; a221. vehicle static pitch resulting from vehicle load distribution, and a222. vehicle dynamic pitch due to acceleration to which vehicle is subjected during motion, and a223. accelerometric disturbance components due to vehicle lateral dynamics; b. vehicle mass is estimated: b1. when vehicle is in motion, and b2. based on a recursive least square algorithm with forgetting factor, and b3. based on an accelerometric signal indicative of vehicle acceleration, on a vehicle speed signal, and other signals representing a vehicle propulsive/resistive torque, and b4. at different low gears, to provide a mass estimation and an associated variance for each gear, and b5. based on mass estimations and corresponding variances for each gear, and b6. compensating for accelerometer disturbances due to : b61, vehicle dynamic pitch; and b62. accelerometrie disturbance components due to vehicle lateral dynamics; and b7. minimizing uncertainties on propulsive/resistive torque due to gear efficiency and roiling resistance.
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Inventors:
RAFFONE ENRICO (IT)
Application Number:
PCT/IB2014/063042
Publication Date:
June 25, 2015
Filing Date:
July 11, 2014
Export Citation:
Assignee:
FIAT RICERCHE (IT)
International Classes:
B60W40/076; B60G17/019; B60W40/13; F16H61/02; G01C9/00; G01C9/08; G01G19/08; B60T8/172; B60T8/18; F16H59/52; F16H59/66
Domestic Patent References:
| WO2003016837A1 | 2003-02-27 | |||
| WO2003023334A1 | 2003-03-20 |
Foreign References:
| US7269494B2 | 2007-09-11 | |||
| DE102005008658A1 | 2006-08-31 | |||
| US6438510B2 | 2002-08-20 |
Other References:
BAE, H. S.; RYU, J.; GERDES, J. C.: "Road Grade and Vehicle Parameter Estimation for Longitudinal Control Using GPS", PROCEEDINGS OF THE IEEE INTELLIGENT TRANSPORTATION SYSTEMS CONFERENCE, FOR INSTANCE, 2001, XP010555764
LINGMAN A ET AL: "Road slope and vehicle mass estimation using kalman filtering", VEHICLE SYSTEM DYNAMICS: INTERNATIONAL JOURNAL OF VEHICLE MECHANICS AND MOBILITY, TAYLOR & FRANCIS, GB, vol. 37, no. suppl, 31 January 2003 (2003-01-31), pages 12 - 23, XP009177346, ISSN: 0042-3114
VAHIDI A ET AL: "Experiments for online estimation of heavy vehicle's mass and time-varying rode grade", PROCEEDINGS OF THE 2003 ASME INTERNATIONAL MECHANICAL ENGINEERING CONGRESS AND EXPOSITION,, vol. 1, 15 November 2003 (2003-11-15) - 21 November 2003 (2003-11-21), pages 451 - 458, XP009177350, ISBN: 0-7918-3713-0
LINGMAN A ET AL: "Road slope and vehicle mass estimation using kalman filtering", VEHICLE SYSTEM DYNAMICS: INTERNATIONAL JOURNAL OF VEHICLE MECHANICS AND MOBILITY, TAYLOR & FRANCIS, GB, vol. 37, no. suppl, 31 January 2003 (2003-01-31), pages 12 - 23, XP009177346, ISSN: 0042-3114
VAHIDI A ET AL: "Experiments for online estimation of heavy vehicle's mass and time-varying rode grade", PROCEEDINGS OF THE 2003 ASME INTERNATIONAL MECHANICAL ENGINEERING CONGRESS AND EXPOSITION,, vol. 1, 15 November 2003 (2003-11-15) - 21 November 2003 (2003-11-21), pages 451 - 458, XP009177350, ISBN: 0-7918-3713-0
Attorney, Agent or Firm:
BERGADANO, Mirko et al. (Via Viotti 9, Torino, IT)
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