Method for estimating the height of the gravity center of a vehicle

摘要

A method is provided for estimating the height of the gravity center of a vehicle having at least a front axle and a rear axle each carrying at least two wheels. The method includes determining a first braking period and a second braking period occurring along road portions having substantially the same slope, but where the first and second braking periods result in different vehicle decelerations, and during both braking periods, estimating at least the following variables: vehicle acceleration; the wheel slippage rate for the front and rear axles; the braking forces or braking torque at each of the front and rear axles, or a ratio thereof; and the slope of the corresponding road portion. The method also includes estimating, using only the foregoing estimations made during both periods, the vehicle center of gravity height.

主权项

1. A method for estimating a height of a gravity center of a vehicle having at least a front axle and a rear axle each carrying at least two wheels, comprising
a) determining a first braking period and a second braking period occurring along road portions having substantially a same slope, but where the first and second braking periods result in different vehicle decelerations, and during both braking periods, estimating at least the following variables:
vehicle acceleration (Acc);a wheel slippage rate (WSR) for the front and rear axles;braking forces (Bkf) or braking torque at each of the front and rear axles, or a ratio thereof (K); andthe slope (Slp) of the corresponding road portion; b) estimating, via one or more electronic control units, using only the estimations of step a) made during both braking periods, the vehicle center of gravity height (H).