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

摘要

Method for the estimation of at least a variable (β; νx, νy; 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; νx, νy; 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; νx, νy; ψ, μ) by an estimation procedure (DVSβ; DVSβν,-DVSβνμ) comprising taking in account a set of dynamic variables (MQ) measured during the motion of the vehicle (10) over respective time intervals (ny, nw, nψ, nx, nα) 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, ƒψ2) calculated with respect to said variable (β; νx, νy; ψ, μ) to estimate to obtain said estimate of said variable (β; νx, νy; 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 (Dd) 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 (Dd) being obtained by acquiring (210) in said given set of operative conditions (OC) a set of reference data (Dd) of variables including variables corresponding to said measured dynamic variables (MQ) of the vehicle (10) and a lateral (vy) and a longitudinal velocity (vx) of the vehicle (10).