Determination of roll angle and bank angle with suspension displacement data
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United States of America Patent
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Nov 17, 2020
Grant Date -
May 16, 2019
app pub date -
Nov 10, 2017
filing date -
Nov 10, 2017
priority date (Note) -
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Abstract
A device includes a body operatively connected to a plurality of wheels, with the plurality of wheels being positioned relative to a banked surface defining a bank angle (β). A suspension system includes at least one suspension sensor configured to provide suspension displacement data. A controller is in communication with the at least one suspension sensor and has a processor and tangible, non-transitory memory on which is recorded instructions. The controller is configured to obtain the suspension displacement data and determine a roll angle (φ) based at least partially on the suspension displacement data. The bank angle (β) is determined based at least partially on the roll angle (φ), a yaw rate (r), a longitudinal velocity (Vx) and a plurality of predetermined parameters. Operation of the device is controlled based partly on at least one of the roll angle (φ) and the bank angle (β).
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