GB2368400A - Acceleration sensor fault detector - Google Patents
Acceleration sensor fault detector Download PDFInfo
- Publication number
- GB2368400A GB2368400A GB0116041A GB0116041A GB2368400A GB 2368400 A GB2368400 A GB 2368400A GB 0116041 A GB0116041 A GB 0116041A GB 0116041 A GB0116041 A GB 0116041A GB 2368400 A GB2368400 A GB 2368400A
- Authority
- GB
- United Kingdom
- Prior art keywords
- acceleration sensor
- vehicle
- fault
- sensor
- yaw rate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B81—MICROSTRUCTURAL TECHNOLOGY
- B81C—PROCESSES OR APPARATUS SPECIALLY ADAPTED FOR THE MANUFACTURE OR TREATMENT OF MICROSTRUCTURAL DEVICES OR SYSTEMS
- B81C99/00—Subject matter not provided for in other groups of this subclass
- B81C99/0035—Testing
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/18—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration in two or more dimensions
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B81—MICROSTRUCTURAL TECHNOLOGY
- B81B—MICROSTRUCTURAL DEVICES OR SYSTEMS, e.g. MICROMECHANICAL DEVICES
- B81B2201/00—Specific applications of microelectromechanical systems
- B81B2201/02—Sensors
- B81B2201/0228—Inertial sensors
- B81B2201/0235—Accelerometers
Abstract
A fault in an acceleration sensor or accelerometer 11, 12, 13 caused by the sensing weight in the sensor becoming fixed or stuck is detected by software. When the vehicle is running the sensor always outputs small signals due to the vibration of the vehicle. If the output of the sensor is less than a predetermined threshold over several sampling periods then a fault is indicated 3. Also described are systems for estimating lateral acceleration based on differentiation of wheel rotation data and yaw rate based on the same wheel data and on steering wheel angle data a . These estimates are compared to outputs measured by a lateral acceleration sensor 11 and a yaw rate sensor 13. If the difference between the estimated and measured values is greater than a predetermined threshold then an error signal is generated 3.
Description
2368400 SENSOR FAULT DETECTOR The present invention relates to a fault
detector for detecting a fault of an acceleration sensor, which is utilized in a vehicle stability control device (or vehicle attitude control device) Although the fault decision device of the present invention is developed such that it is to be assembled in a vehicle stability control device as a portion of an operation logic thereof, the fault detector can be utilized as a separate unit.
The vehicle stability control (VSC) system controls a vehicle according to an acceleration information from an acceleration sensor for sensing acceleration in a vehicle running direction, that is, a forward or backward running direction, a lateral acceleration from an acceleration sensor for sensing acceleration in a lateral, that is, left or right, direction and a yaw rate sensor, all of which are mounted on the vehicle, a rotation information of respective wheels and a steering angle information, etc, such that, when an acceleration of the vehicle in a direction, which is inconsistent with a steering direction intended by a driver of the vehicle, is increased beyond a preset limit value, a braking force in a portion of the wheels is automatically generated For example, when acceleration in a right forward direction is increased and yaw rate in counterclockwise direction is increased beyond a preset condition, the VSC system automatically generates a braking force in a rear left wheel such that an original attitude of the vehicle is restored before the state of the vehicle becomes uncontrollable by the driving operation of the driver.
As mentioned above, the acceleration sensors and the yaw rate sensor are utilized in the VSC system for detecting the state of the vehicle Each of these acceleration sensors usually has a structure in which a movement of a weight of the acceleration sensor, which is supported by a plurality of springs, is physically detected Therefore, if the weight of the acceleration sensor becomes impossible to move for some reason, it becomes impossible to precisely detect the state of the vehicle, so that the VSC system may perform an erroneous control.
Yaw rate is a rotational acceleration generated around a gravity center of the vehicle in a plane perpendicular to a moving direction of the vehicle.
In this specification, the acceleration sensors in running direction and in lateral direction and the yaw rate sensor will be referred to as mere "acceleration sensor' totally.
Some conventional VSC system includes physical detection means for physically detecting the state in which the weight of the acceleration sensor becomes fixed In such VSC system, which utilizes an output of such acceleration sensor, an erroneous operation of the acceleration sensor is detected according to an output of the detection means, which is indicative of the fixed state of the weight Further, JP H 04-110267 A, JP H 07- 033037 A and JP H 07-196029 A disclose techniques in which an abnormality of an acceleration sensor is detected by estimating acceleration generated in a vehicle on the basis of a change of vehicle speed and comparing the estimated acceleration with an output of the acceleration sensor mounted thereon Further, JP H 08-136572 A discloses a technique related to a correction of an intermediate position of an acceleration sensor, in which an output value of the acceleration sensor mounted on a vehicle is corrected by estimating an output torque of an engine of the vehicle.
The conventional physical detector of a fault state of an acceleration sensor, which is caused by fixing of a weight thereof, can not detect the fault when a level of a detection signal of the acceleration sensor is low That is, the fault detection sensitivity of the physical fault detector is low when acceleration applied to the acceleration sensor is small and, only when the acceleration applied to the acceleration sensor is larger, the fault detection becomes possible In order to make a fault detection possible even when acceleration applied to the sensor is small, it is necessary to improve both the design preciseness of the physical detector and the machining preciseness thereof, causing the sensor device to be expensive.
Further, such physical detector of an acceleration sensor fault requires an increased size of hardware correspondingly That is, the size of the physical detector becomes large There is a possibility that the physical acceleration sensor fault detector itself becomes fault Since a control device utilizing an output signal of such sensor is designed such that an operation of the physical detector becomes failsafe condition against a fault of the physical detector, there may be a case where the vehicle stability control device can not operate appropriately due to fault of the physical detector, even when the acceleration sensor operates normally.
According to a first aspect of the present invention, an acceleration sensor fault detector, which can be utilized together with any of an acceleration sensor in vehicle running direction, an acceleration sensor in lateral direction and a yaw rate sensor, comprises means ( 1) for sampling an output of the acceleration sensor periodically and means ( 2) for generating a fault detection signal ( 3) when a vehicle speed is equal to or higher than a predetermined value (volnk/h) and a variation of the output of the acceleration sensor sampled through a plurality (n) of sampling periods is equal to or smaller than a predetermined value (& 0).
The symbols in parenthesises correspond to reference symbols used in the accompanying drawings showing an embodiment of the present invention to be described later It should be noted that these symbols are attached in order to facilitate an understanding of the present construction and are not meant to limit the present invention to the shown embodiment This is also true in the following description.
The present invention provides a sensor fault detector capable of detecting an abnormality of an acceleration sensor on the side of a vehicle stability control device utilizing an output of the acceleration sensor, without requiring any specific detection means.
The sensor fault detector is capable of being embodied by changing software without requiring any hardware on the side of an acceleration sensor as well as the side of a vehicle stability control device.
The present invention provides a vehicle stability control device, which can utilize an inexpensive sensor and can be economized totally A high quality, inexpensive vehicle stability control device is provided utilizing a physical acceleration fault detector, which can be designed such that the detector roughly detects a fault of an acceleration sensor when a level of a detection signal of the physical detector is high.
The predetermined value (v,) of vehicle speed is a speed of a vehicle practically running The value (v) is preferably set to, for example, 2 km/h to 20 km/h The predetermined variation value ( 5) is as small as a discriminatory sensitivity of the acceleration sensor The detection signal generated by the acceleration sensor is sampled by an interface circuit provided in an input of the logical operation circuit ( 2) and taken in the logical operation circuit ( 2) as a digital signal Since a sampling period of a practical sampling circuit is in a range from one several tenth seconds to one several thousandth seconds, the number N of sampling periods during a short time from a time instance at which the logical operation circuit sets an acceleration sensor fault detection mode to a time instance at which the fault detection is performed may be set to several tens to several thousands.
When the vehicle is running practically and the sampling output of the interface circuit over a plurality (n) of sampling periods does not indicate an identifiable variation, the acceleration sensor fault detector decides that the weight of the acceleration sensor is fixed It is most reasonable to detect a variation of the sampling output by comparing a current sampling output obtained in a certain sampling period with a sampling output obtained in a sampling period immediately preceding the certain sampling period and repeating the comparison every sampling period However, the variation of the sampling output may be detected every time corresponding to n sampling periods or every time corresponding to a plurality number of sampling periods smaller than n.
Due to vibrations, an output of an acceleration sensor of a running vehicle, which is displayed on a time axis of an oscilloscope screen, always shows a small change However, when the weight of the acceleration sensor is fixed, such small change disappears completely The present acceleration sensor fault detector detects such state as an occurrence of fault and generates a fault detection signal Therefore, the construction of the present acceleration sensor fault detector is simple compared with the conventional detector, which executes the estimation operation of acceleration.
Further, the time required to detect an acceleration sensor fault is short in the present acceleration sensor fault detector and the possibility of fault of the fault detection device itself is very small.
According to a second aspect of the present invention, the acceleration sensor fault detector is featured by including means ( 2) for estimating a lateral acceleration of a vehicle by taking in a rotation information of right and left wheels and time- differentiating a difference in rotation speed between the right and left wheels and means for generating a fault detection signal ( 3) when there is a difference larger than a predetermined value between the lateral acceleration estimated by the means ( 2) and a detection output of the lateral acceleration sensor The acceleration sensor fault detector estimates a lateral component of an acceleration of the vehicle from the rotation information of the right and left wheels and decides that the lateral acceleration sensor does not operating correctly when the output of the lateral acceleration sensor is within an approximate value with respect to the estimated lateral acceleration component of the acceleration.
According to a third aspect of the present invention, the acceleration sensor fault detector is featured by comprising means for estimating a yaw rate of a vehicle on the basis of a steering angle of a vehicle and a time-differentiated value of a difference in rotation speed between the right and left wheels when the steering angle is a predetermined value Ca O or larger and means for comparing the estimated yaw rate with an output of a yaw rate sensor and generating a fault detection signal when there is a predetermined error or more therebetween.
When a driver of the running vehicle steers a steering wheel, the acceleration sensor fault detector of the present invention estimates the yaw rate on the basis of the steering angle and the rotation information of the right and left wheels of the vehicle and, when the estimated yaw rate is not close to the output of the yaw rate sensor, decides that the yaw rate sensor is not operating correctly.
Embodiments of the present invention will be described with reference to the drawings, in which:
FIG 1 is a block diagram of an acceleration sensor fault detector according to the present invention; FIG 2 is a main control flowchart according to a first embodiment of the present invention; FIG 3 is a main control flowchart according to a second embodiment of the present invention; and FIG 4 is a main control flowchart according to a third embodiment of the present invention.
An acceleration sensor fault detector is embodied in a vehicle stability control (VSC) device shown in FIG 1 as a software of a logical operation circuit of the vehicle stability control device.
The acceleration sensor fault detector comprises an acceleration sensor 11 mounted on a vehicle for sensing acceleration in a moving direction of the vehicle, an acceleration sensor 12 mounted on the vehicle for sensing an acceleration of the vehicle in a direction perpendicular to the moving direction of the vehicle and a yaw rate sensor 13 mounted on the vehicle for sensing a yaw rate of the vehicle Outputs of these three acceleration sensors are connected to an interface circuit 1 and sampled therein, respectively A sampling period is 1/100 seconds corresponding to a sampling frequency of 100 Hz Sampled detection signals are supplied to a logical operation circuit 2.
The logical operation circuit 2 is connected to another interface circuit to which a vehicle speed information indicative of a rotation of an output shaft of a change gear of the vehicle, a wheel rotation information obtained from respective front and rear wheels, a steering angle information indicative of a rotation angle of a steering wheel and, etc, are inputted.
These information are sampled in the interface circuit 5 and supplied to the operation circuit 2.
The logical operation circuit 2 constitutes an information input portion of a control circuit 4 of the vehicle stability control device The logical operation circuit 2 and the control circuit 4 of the vehicle stability control device are constructed as a single circuit, practically The control circuit 4 operates these input information to set a body model of the vehicle in a running state and, when an acceleration vector produced in the vehicle body model is increased beyond a predetermined limit, decides a possibility of turning sideways of the vehicle According to the decision, the control circuit 4 controls the vehicle such that a braking force is applied to a portion of the wheels in a direction in which the increase of the acceleration vector is suppressed That is, an output of the control circuit 4 is sent to a brake system of the vehicle through an interface circuit 6.
The feature of the present invention resides in a fault detection of the acceleration sensor connected to the interface 1 That is, when there is a fault in the acceleration sensor, the fault is detected on the basis of an acceleration output value of the acceleration sensor, upon which a fault detection signal 3 is produced.
A fault detection logic according to a first embodiment of the present invention will be described with reference to FIG 2, which is a main flowchart of the fault detection logic In FIG 2, the logical operation circuit 2 is automatically and periodically set in a fault detection mode for a short time In the fault detection mode, when a vehicle speed is equal to or higher than a value v,, which is, in this example, 5 km/h, the logical operation circuit 2 determines whether an output of the i-th acceleration sensor is equal to or smaller than a predetermined value 65 This is repeated for all of the acceleration sensors by changingi sequentially In this examplei is 1 to 3, so that the output signals of the three acceleration sensors are checked sequentially.
An output of an acceleration sensor of a running vehicle always shows a small change caused by vibration of the vehicle However, when the weight of the acceleration sensor is fixed, such small change disappears completely.
When such small change can not be detected by the acceleration sensor, the logical operation circuit 2 sends the fault detection signal 3 to the control circuit 4, upon which the control circuit 4 executes a failsafe operation.
The practical acceleration sensor fault detector of the present invention was constructed such that the sampling period of the acceleration sensor output is 0 01 second and, when the vehicle speed is 5 km/h or higher, the fault detection signal is produced when a state in which a difference between a sample value in a current sampling period and a sample value in a preceding sampling period is O O 1 G or less continues for 5 seconds In a running test of a vehicle on which this acceleration sensor fault detector is mounted, very good test result was obtained That is, when the running test was performed by intentionally providing a fixing state of the weight of the acceleration sensor, the generation of the fault corresponded to the generation of the fault detection signal very precisely Although the construction of the acceleration sensor fault detector of the present invention is simple, the practical effect thereof is substantial.
A second invention of the present invention has the same construction as that shown in FIG 1 FIG 3 is a main portion of a fault detection logic according to a second embodiment of the second invention In FIG 3, the logical operation circuit 2, which, in the fault detection mode, detects a fault of the lateral acceleration sensor, takes in the rotation information of the right and left wheels when the vehicle running speed is equal to or higher than the practical running speed v,, time-differentiates a rotation difference D (rotation speed difference) per time between the right and left wheels and operates an estimated lateral component ye of acceleration of the vehicle.
The logical operation circuit 2 compares the estimated lateral component with an output value of the lateral acceleration sensor 12 and, when there is a difference exceeding a preset value R therebetween, decides an output abnormality of the lateral acceleration sensor 12 and sends a fault detection signal When the difference between the estimated lateral component and the output value of the lateral acceleration sensor is smaller than the preset value R, this operation is repeated No times for confirmation purpose.
The lateral component Ye of the acceleration of the vehicle is obtained on the basis of the rotation speed difference D between the right and left wheels and the vehicle speed v That is, the lateral component y of the vehicle speed is represented by the following equation:
y=vsin 8 where 0 is an angle of the vehicle speed vector with respect to the vehicle running direction.
Assuming that a distance between the right and left front wheels is L, 0 = DL Therefore, the above equation becomes as follow:
y = v (DlL) Since the distance L is a constant determined by the kind of vehicle and can be represented by L = 1/k where k is a proportional constant, the above equation can be rewritten as follow:
y=kDv Since a time-differentiated value of this is the lateral component Ye of the acceleration, the above equation is rewritten as follow:
Ye = k (d/dt)Dv The practical acceleration sensor fault detector was constructed such that the fault detection signal is produced under conditions that the vehicle speed is equal to or higher than the predetermined value ( 15 km/h), the operated lateral component ye of the acceleration is equal to or larger than a predetermined value ( 0 25 G) and a state where a difference between the operated lateral component and the detection output of the yaw rate sensor is equal to or larger than O 1 G continues over the repetitive sampling periods equal to or longer than a predetermined time ( 1 second).
A block diagram of a third invention is the same as that shown in FIG.
1 FIG 4 is a main portion of a fault detection logic according to a second embodiment of the second invention In FIG 4, the logical operation circuit 2 in the fault detection mode for detecting a fault of the yaw rate sensor takes in the rotation information of the right and left wheels and the steering information a when the vehicle running speed v, is abnormal, operates a yaw rate q of the vehicle on the basis of the steering information a and a time-differentiated value of a difference of rotation per time between the right and left wheels The logical operation circuit 2 compares the estimated yaw rate q with an output qa of the yaw rate sensor and, when a difference therebetween exceeds a preset value Q, generates a fault detection signal.
The yaw rate ck is obtained by the equation qe = (rotation speed difference D between right and left front wheels)/(front wheel tread).
The practical acceleration sensor fault detector was constructed such that the fault detection is executed under conditions that the vehicle speed is equal to or higher than a predetermined value ( 5 km/h) and the operated yaw rate is equal to or larger than a predetermined value ( 15 degree/sec) or the rotation angle of the steering wheel is equal to or larger than a predetermined value ( 80 degree) According to the test conducted by the present inventors, it has been found that the decision limits may be very rough In this test, the acceleration sensor fault detector was constructed such that the fault detection is executed under the above mentioned conditions and, when signs of the output value of the yaw rate sensor and the operated yaw rate are the same, the yaw rate sensor is decided as normal and, when signs thereof are different, the fault detection signal is generated That is, in the practical acceleration sensor fault detector, the "difference equal to or larger than the predetermined value" may mean that signs of the output of the yaw rate sensor and the operated yaw rate are different.
According to the present invention, the abnormality of an acceleration sensor can be decided with high sensitivity on the side, which utilizes an output of the acceleration sensor, without providing any special detection means on the acceleration sensor Adding software of the control circuit, with adding any hardware to neither the sensor side nor the control device side can embody the present invention When the vehicle stability control device according to the present invention is used together with an acceleration sensor fault detector, which detects a fault physically, it is possible to design the detector such that it performs a rough fault detection when a level of the detection output is high Therefore, it is possible to provide a high quality vehicle stability control device at low cost.
Claims (4)
1 An acceleration sensor fault detector for detecting a fault of an acceleration sensor, comprising means for periodically sampling an output of said acceleration sensor and means for generating a fault detection signal under conditions that a vehicle speed is equal to or higher than a predetermined value and that a variation of the output of said acceleration sensor is equal to or smaller than a predetermined value for a plurality (n) of sampling periods.
2 An acceleration sensor fault detector for detecting a fault of a lateral acceleration sensor, comprising means for estimating a lateral acceleration of a vehicle from a time-differentiated value of a difference in rotation speed between right and left wheels of said vehicle by operating a rotation information of said right and left wheels and means for comparing the estimated lateral acceleration with an output of a lateral acceleration sensor and generating a fault detection signal when there is a difference therebetween, which is equal to or larger than a predetermined value.
3 An acceleration sensor fault detector for detecting a fault of a yaw rate sensor, comprising means for estimating a yaw rate from a steering angle and a time-differentiated value of a difference in rotation speed between said right and left wheels when said steering angle is equal to or larger than a predetermined value oand means for comparing the estimated yaw rate with an output of said yaw rate sensor and generating a fault detection signal when there is a difference therebetween, which is equal to or larger than a predetermined value.
4 An acceleration sensor fault detector substantially as hereinbefore described with reference to any of the examples shown in the accompanying drawings.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000206756A JP2002022766A (en) | 2000-07-07 | 2000-07-07 | Sensor failure determining device |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| GB0116041D0 GB0116041D0 (en) | 2001-08-22 |
| GB2368400A true GB2368400A (en) | 2002-05-01 |
| GB2368400B GB2368400B (en) | 2004-06-16 |
Family
ID=18703636
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB0116041A Expired - Fee Related GB2368400B (en) | 2000-07-07 | 2001-06-29 | Sensor fault detector |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP2002022766A (en) |
| DE (1) | DE10133170A1 (en) |
| GB (1) | GB2368400B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7871136B2 (en) * | 2003-12-26 | 2011-01-18 | Bosch Corporation | Trouble diagnosis device of vehicle body acceleration sensor and antilock-brake system |
| US8798869B2 (en) | 2009-10-30 | 2014-08-05 | Toyota Jidosha Kabushiki Kaisha | Vehicle motion control system |
| US10279805B2 (en) | 2014-03-19 | 2019-05-07 | Toyota Jidosha Kabushiki Kaisha | Vehicle movement state determination device and vehicle movement control device |
| US20220237772A1 (en) * | 2018-11-20 | 2022-07-28 | Bnsf Railway Company | System and method for minimizing lost vehicle axel motion and filtering erroneous electrical signals |
| US11620743B2 (en) | 2018-11-20 | 2023-04-04 | Bnsf Railway Company | Systems and methods for determining defects in physical objects |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102006011138B4 (en) * | 2006-01-16 | 2022-09-29 | Continental Automotive Technologies GmbH | Process for functional testing of an assembly |
| JP2007232460A (en) * | 2006-02-28 | 2007-09-13 | Aisin Seiki Co Ltd | State detecting device for acceleration sensor |
| JP4827629B2 (en) * | 2006-06-21 | 2011-11-30 | 本田技研工業株式会社 | Fault detection device for lateral acceleration sensor |
| DE102006047521A1 (en) * | 2006-10-07 | 2008-04-10 | Conti Temic Microelectronic Gmbh | Functional test method for acceleration sensor unit involves inverting acceleration signal before comparison with another acceleration signal |
| JP5131693B2 (en) * | 2008-03-28 | 2013-01-30 | 本田技研工業株式会社 | Failure detection apparatus and method for yaw rate sensor and lateral acceleration sensor |
| KR101522032B1 (en) * | 2009-09-16 | 2015-05-20 | 현대모비스 주식회사 | apparatus for detecting fail of wheel velocity of a Vehicle |
| JP2015047943A (en) | 2013-08-30 | 2015-03-16 | 船井電機株式会社 | Manual propulsion vehicle |
| WO2016114159A1 (en) | 2015-01-14 | 2016-07-21 | 株式会社小糸製作所 | Control device for vehicular lamp, and vehicular lamp system |
| DE102015218941A1 (en) * | 2015-09-30 | 2017-03-30 | Siemens Aktiengesellschaft | Method for detecting a failure of an acceleration sensor and measuring system |
| WO2017097374A1 (en) | 2015-12-11 | 2017-06-15 | Robert Bosch Gmbh | Vehicle motion detecting apparatus |
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| US4337516A (en) * | 1980-06-26 | 1982-06-29 | United Technologies Corporation | Sensor fault detection by activity monitoring |
| JPS63132171A (en) * | 1986-11-21 | 1988-06-04 | Nippon Denso Co Ltd | Semiconductor type acceleration detector |
| JPH04313062A (en) * | 1991-04-01 | 1992-11-05 | Honda Motor Co Ltd | Fault detecting apparatus for acceleration sensor |
| JPH1048251A (en) * | 1996-07-31 | 1998-02-20 | Hino Motors Ltd | Failure detector of acceleration detecting circuit for vehicle |
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| JP2679190B2 (en) * | 1988-12-08 | 1997-11-19 | 富士ゼロックス株式会社 | Recorder sorter power OFF monitoring device |
| JP2596152B2 (en) * | 1989-12-25 | 1997-04-02 | 三菱自動車工業株式会社 | Calculation method of vehicle lateral acceleration |
| DE4123232C2 (en) * | 1991-07-13 | 1995-01-26 | Daimler Benz Ag | Method for preventing instabilities in the driving behavior of a vehicle |
| DE4229967C2 (en) * | 1992-09-08 | 2003-02-13 | Siemens Ag | Method and arrangement for determining a lateral acceleration of a motor vehicle |
| JP3319101B2 (en) * | 1993-12-09 | 2002-08-26 | 住友電気工業株式会社 | Gravity accelerometer for vehicles |
| DE19958492A1 (en) * | 1999-12-04 | 2001-06-07 | Bosch Gmbh Robert | Method to determine unstable vehicle state; involves determine difference between measured transverse acceleration and transverse acceleration calculated from steering wheel angle and vehicle speed |
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- 2000-07-07 JP JP2000206756A patent/JP2002022766A/en active Pending
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- 2001-06-29 GB GB0116041A patent/GB2368400B/en not_active Expired - Fee Related
- 2001-07-07 DE DE2001133170 patent/DE10133170A1/en not_active Withdrawn
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4337516A (en) * | 1980-06-26 | 1982-06-29 | United Technologies Corporation | Sensor fault detection by activity monitoring |
| JPS63132171A (en) * | 1986-11-21 | 1988-06-04 | Nippon Denso Co Ltd | Semiconductor type acceleration detector |
| JPH04313062A (en) * | 1991-04-01 | 1992-11-05 | Honda Motor Co Ltd | Fault detecting apparatus for acceleration sensor |
| JPH1048251A (en) * | 1996-07-31 | 1998-02-20 | Hino Motors Ltd | Failure detector of acceleration detecting circuit for vehicle |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7871136B2 (en) * | 2003-12-26 | 2011-01-18 | Bosch Corporation | Trouble diagnosis device of vehicle body acceleration sensor and antilock-brake system |
| CN1918475B (en) * | 2003-12-26 | 2011-08-17 | 博世株式会社 | Failure diagnosis device for vehicle body acceleration sensor and anti-lock brake system |
| US8798869B2 (en) | 2009-10-30 | 2014-08-05 | Toyota Jidosha Kabushiki Kaisha | Vehicle motion control system |
| US10279805B2 (en) | 2014-03-19 | 2019-05-07 | Toyota Jidosha Kabushiki Kaisha | Vehicle movement state determination device and vehicle movement control device |
| US20220237772A1 (en) * | 2018-11-20 | 2022-07-28 | Bnsf Railway Company | System and method for minimizing lost vehicle axel motion and filtering erroneous electrical signals |
| US11423527B2 (en) * | 2018-11-20 | 2022-08-23 | Bnsf Railway Company | System and method for minimizing lost vehicle axel motion and filtering erroneous electrical signals |
| US20220343491A1 (en) * | 2018-11-20 | 2022-10-27 | Bnsf Railway Company | System and method for minimizing lost motion of an axle of a vehicle and filtering erroneous electrical signals |
| US11620743B2 (en) | 2018-11-20 | 2023-04-04 | Bnsf Railway Company | Systems and methods for determining defects in physical objects |
| US11842476B2 (en) | 2018-11-20 | 2023-12-12 | Bnsf Railway Company | System and method for minimizing lost motion of an axle of a vehicle and filtering erroneous electrical signals |
Also Published As
| Publication number | Publication date |
|---|---|
| GB2368400B (en) | 2004-06-16 |
| JP2002022766A (en) | 2002-01-23 |
| GB0116041D0 (en) | 2001-08-22 |
| DE10133170A1 (en) | 2002-01-17 |
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Effective date: 20090629 |