| US 7,499,786 B2 | ||
| System and method for determining when to update a surface estimation value indicative of a condition of a roadway surface | ||
| Kevin A. O'Dea, Ann Arbor, Mich. (US); Aleksander B. Hac, Dayton, Ohio (US); and Todd A. Belvo, South Lyon, Mich. (US) | ||
| Assigned to Delphi Technologies, Inc., Troy, Mich. (US) | ||
| Filed on Jul. 18, 2006, as Appl. No. 11/488,354. | ||
| Prior Publication US 2008/0021626 A1, Jan. 24, 2008 | ||
| Int. Cl. B60T 7/12 (2006.01); G06F 7/00 (2006.01); B60B 39/00 (2006.01) | ||
| U.S. Cl. 701—80 [701/65; 701/71; 701/72; 701/73; 701/75] | 3 Claims |
| 1. A method for determining when to update a surface estimation value indicative of a condition of a roadway surface, comprising:
determining a yaw rate error of a vehicle;
determining a predicted front axle cornering force value indicative of a predicted front axle cornering force, utilizing a
vehicle dynamics model;
determining a first front axle cornering force value indicative of a front axle cornering force, based on a lateral acceleration
value;
determining a front axle cornering force error value based on the predicted front axle cornering force value and the first
front axle cornering force value;
determining a threshold yaw rate error value based on the front axle cornering force error value; and
indicating that the surface estimation value is to be updated when the yaw rate error value is greater than the threshold
yaw rate error value.
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