LATERAL ACCELERATION SENSOR COMPENSATION FOR AN INCLINED MEASUREMENT PLANE

摘要

The measurement lateral acceleration of a vehicle is compensated for the gravity component introduced in accelerometer measurements resulting from a banked road and/or vehicle rolling motion. In yaw stability control systems, performance does not have to be desensitized to prevent false activations for banked turns, for example. In addition, the present invention provides an estimate of bank angle which can be used in other control systems (such as the active suspension system ) to improve their performance. By comparing an estimated horizontal lateral acceleration based on overall vehicle dynamics (i.e., not using the accelerometer) with the measured lateral acceleration in the plane of the vehicle, the displacement angle of the vehicle plane (i.e., measurement plane) to horizontal is estimated. The displacement angle is used to determine the road bank angle and/or the lateral acceleration in the road plane.