US 12,304,482 B2
Systems and methods for estimating vehicle parameters
Milad Jalaliyazdi, Richmond Hill (CA); Mohammadali Shahriari, Markham (CA); Ashraf Abualfellat, Grand Blanc, MI (US); and Dhaval Kavindra Sompura, Canton, MI (US)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed on Jul. 12, 2023, as Appl. No. 18/351,048.
Prior Publication US 2025/0018943 A1, Jan. 16, 2025
Int. Cl. B60W 30/14 (2006.01); B60W 60/00 (2020.01)
CPC B60W 30/146 (2013.01) [B60W 60/001 (2020.02); B60W 2720/106 (2013.01); B60W 2720/125 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A vehicle parameter estimation system of a vehicle comprising:
at least one processor; and
at least one memory communicatively coupled to the at least one processor, the at least one memory comprising instructions that upon execution by the at least one processor, cause the at least one processor to:
determine a maximum desired vehicle acceleration in a lateral direction;
determine a minimum excitation acceleration in the lateral direction, the minimum excitation acceleration being associated with generating an estimated moment of inertia of the vehicle and an estimated understeer gradient of the vehicle;
generate a first control input for transmission to an advanced driver assistance system (ADAS) of the vehicle to initiate an application of a temporary excitation acceleration that is greater than the minimum excitation acceleration and less than the maximum desired vehicle acceleration to the vehicle in the lateral direction;
generate the estimated moment of inertia using a vehicle moment of inertia estimation observation model and the estimated understeer gradient using an understeer gradient estimation observation model based on vehicle data received from at least one vehicle sensor, the vehicle data being generated in response to the application of the temporary excitation acceleration to the vehicle;
upon a determination by the vehicle moment of inertia estimation observation model that the estimated moment of inertia has converged and a determination by the understeer gradient estimation observation model that the estimated understeer gradient has converged, generate a second control input for transmission to the ADAS of the vehicle to cease the application of the temporary excitation acceleration to the vehicle in the lateral direction; and
transmit the estimated moment of inertia and the estimated understeer gradient to the ADAS of the vehicle for replacement of a previous moment of inertia and a previous understeer gradient at the ADAS with the estimated moment of inertia and the estimated understeer gradient.