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Verification of sensors for yaw rate and lateral acceleration in car ESP system

Gajek Andrzej, Janczur Robert, Pieniążek Wiesław, Wolak Stanisław

Archiwum Motoryzacji

2020

Vol. 88, nr 2

61--76

This study analyzed the possibilities to validate the indications of sensors for yaw rate and lateral acceleration within the scope of extended diagnostic routine of the car ESP system at Vehicle Inspection Stations. The stand tests were performed using the reference sensors and a standard diagnostic tester. The comparison of the yaw rate and lateral acceleration results obtained from the working sensor under examination, recorded with the Vbox unit, and the results from the reference sensor demonstrated a good conformity both in quality and quantity. But these tests demonstrated also a pure conformity (both in quality and quantity) with runs obtained from tester. The Root Mean Square (RMS) was used as factor of qualitative estimation. These inconveniences were caused by in sampling frequency incompatibility and lack of recording synchronization for signals from the tester and from reference sensors. The question of primary importance is a firmware modification for selected testers. Such a tester should be able to record signals from a reference sensor and have a set sampling frequency for signals from a working sensor. On the basis of already carried out research analyses the suggested frequency should be no lower than approximately 10 Hz. It resulted from a spectral analysis carried out for possessed runs maintaining the Nyquist limit frequency.

A method for the estimation of sideslip angle for a vehicle equipped with a one-antenna GPS measuring system for steady state movement

Pieniążek Wiesław, Wolak Stanisław, Janczur Robert

Archiwum Motoryzacji

2019

Vol. 84, nr 2

137--146

One-antenna GPS systems present no possibility for the direct determination of vehicle slip angle. This is an easy task for dual antenna systems; however, many users have this kind of apparatus. In this paper, a method of estimation of this parameter, which is important for the estimation of vehicle steerability factors, is proposed (e.g. TB factor calculated on the basis of data from input test [8]). The method is based on two parameters measured by a one-antenna GPS system; these are the heading angle created from the Doppler channel coming directly from the GPS engine, and the yaw rate measured by an IMU device integrated and cooperating with the GPS engine. The sideslip angle which was calculated according to the proposed method is compared with an equivalent angle calculated on the basis of data from a non-slip measurement of velocity components for selected point of vehicle acquired using. The presented method is illustrated with examples from real tests. In the author’s opinion, the sideslip angle calculated with the application of measurement data obtained from a one-antenna GPS device could be used in practice. From comparison with another upper mentioned method, it follows that the differences between average values of sideslip angles obtained from both considered methods is not greater than 8%.