METHOD FOR ESTIMATING VARIABLES AFFECTING THE VEHICLE DYNAMICS AND CORRESPONDING VIRTUAL SENSOR

摘要

Method for the estimation of at least a variable (β; ν_x, ν_y; ψ, μ) affecting a vehicle dynamics (10), including measuring dynamic variables (MQ) of the vehicle (10) during its motion, calculating in real time an estimate (Formula (I)) of said variable (β; ν_x, ν_y; ψ, μ), on the basis of said measured dynamic variables (MQ), The method includes: calculating (230) said estimate of said at least a variable (β; ν_x, ν_y; ψ, μ) by an estimation procedure (DVS_β; DVS_βν; DVS_βνμ) comprising taking in account a set of dynamic variables (MQ) measured during the motion of the vehicle (10) over respective time intervals (n_y, n_w, n_ψ, n_x, n_α) and applying on said set of measured dynamic variables (MQ) at least an optimal nonlinear regression function (ƒ*_β; ƒ*_x, ƒ*_y; ƒ*_β1, ƒ*_β2, ƒ*_ψ1, ƒ_ψ2) calculated with respect to said variable (β; ν_x, ν_y; ψ, μ) to estimate to obtain said estimate of said variable (β; ν_x, ν_y; ψ, μ), said optimal non linear regression function (ƒ*_β; ƒ*_x, ƒ*_y; ƒ*_β1, ƒ*_β2, ƒ*_ψ1, ƒ*_ψ2) being obtained by an optimal calculation procedure (220) including: on the basis of an acquired set of reference data (D_d) and of said set of dynamic variables (MQ) measured during the motion of the vehicle (10), finding, for a desired accuracy level (ε), a regression function (ƒ*_β; ƒ*_x, ƒ*_y; ƒ*_β1, ƒ*_β2, ƒ*_ψ1, ƒ*_ψ2) giving an estimation error lower or equal than said desired accuracy level (ε) in a given set of operative conditions (OC), said acquired set of reference data (D_d) being obtained by acquiring (210) in said given set of operative conditions (OC) a set of reference data (D_d) of variables including variables corresponding to said measured dynamic variables (MQ) of the vehicle (10) and a lateral (v_y) and a longitudinal velocity (v_x) of the vehicle (10).