초록 ▼

A method for determining a sideslip angle of a terrestrial vehicle that moves on wheels by using a global positioning system (GPS) receiver. The GPS receiver is mounted in the vehicle and measures the horizontal velocity of the vehicle as well as its attitude. The sideslip angle of the vehicle at th

A method for determining a sideslip angle of a terrestrial vehicle that moves on wheels by using a global positioning system (GPS) receiver. The GPS receiver is mounted in the vehicle and measures the horizontal velocity of the vehicle as well as its attitude. The sideslip angle of the vehicle at the GPS receiver is obtained from these measurements. The body sideslip angle and tire sideslip angles are derived by translating the sideslip angle at the GPS receiver to the center of gravity and to the wheels. Alternatively, an on-board gyroscope is provided for measuring vehicle attitude while the horizontal velocity is obtained from the GPS receiver. The method is extended to derive wheel slip and tire cornering stiffness. The vehicle states derived by the method can be used in a stability control system for stabilizing the motion of the vehicle.

대표청구항 ▼

A method for determining a sideslip angle of a terrestrial vehicle that moves on wheels by using a global positioning system (GPS) receiver. The GPS receiver is mounted in the vehicle and measures the horizontal velocity of the vehicle as well as its attitude. The sideslip angle of the vehicle at th

A method for determining a sideslip angle of a terrestrial vehicle that moves on wheels by using a global positioning system (GPS) receiver. The GPS receiver is mounted in the vehicle and measures the horizontal velocity of the vehicle as well as its attitude. The sideslip angle of the vehicle at the GPS receiver is obtained from these measurements. The body sideslip angle and tire sideslip angles are derived by translating the sideslip angle at the GPS receiver to the center of gravity and to the wheels. Alternatively, an on-board gyroscope is provided for measuring vehicle attitude while the horizontal velocity is obtained from the GPS receiver. The method is extended to derive wheel slip and tire cornering stiffness. The vehicle states derived by the method can be used in a stability control system for stabilizing the motion of the vehicle. ween said two position measurements. 12. The method of claim 8, wherein said horizontal velocity is derived from a Doppler measurement using said global positioning receiver. 13. The method of claim 8, wherein said horizontal velocity is derived by dividing the difference between two carrier phase measurements into the time elapsed between said two measurements. 14. The method of claim 8, further comprising: a) measuring a wheel speed of at least one of said wheels; b) taking a difference between an x-component of said horizontal velocity and said wheel speed; and c) determining a wheel slip from said difference. 15. The method of claim 8, further comprising: a) determining a time offset for said measurement of said horizontal velocity with respect to said measurement of said attitude; and b) correcting said measurement of said horizontal velocity for said time offset. 16. A stability control system for stabilizing the motion of a terrestrial vehicle moving on a set of wheels, said stability control system comprising: a) a global positioning receiver connected to a plurality of antennas mounted in said terrestrial vehicle; wherein the receiver uses UPS signals received by the plurality of antennas to measure a horizontal velocity of said terrestrial vehicle and an attitude of said terrestrial vehicle; b) a processing unit for deriving a tire sideslip angle of one of said wheels of said terrestrial vehicle from said horizontal velocity and said attitude; and c) a control mechanism for using said tire sideslip angle to stabilize said terrestrial vehicle. 17. The stability control system of claim 16, wherein said control mechanism comprises a Kalman filter.