Integrated slope and pitch estimation using a three-axis inertial measurement unit
A three-axis inertial and pitch angle technology, applied in the direction of control devices, etc., can solve problems such as expensive, inaccurate and unfeasible measurement data
Active Publication Date: 2018-07-24
GM GLOBAL TECH OPERATIONS LLC
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However, these methods are very expensive and not feasible within typical consumer price points
[0005] Also, the measurement data may have inaccuracies due to even slight measurement device offsets or errors, noise and / or system failures, in order to still take the measurement data into account, for example even if the pitch direction movement is accurately detected using a GPS unit , the system will also need accurate road grade angle data in order to properly determine what proportion of the measured pitch movement relative to road grade is due to vehicle pitch
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[0021] As required, detailed embodiments of the present invention are disclosed herein. The disclosed embodiments are merely examples that can be embodied in various and alternative forms and combinations thereof. For example, as used herein, "exemplary" and similar terms broadly refer to an embodiment serving as an illustration, sample, model, or mode.
[0022] The description should be considered broadly within the spirit of the specification. For example, reference herein to a linkage between any two moieties is intended to encompass those two moieties that are directly or indirectly joined to each other. As another example, a single component described herein, eg, in relation to one or more functions, should be construed to cover embodiments where more than one component is instead used to perform the recited functions. And vice versa, ie multiple components described herein relating to one or more functions should be construed to cover embodiments in which a single comp...
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A system for use at a vehicle to estimate vehicle pitch angle and road grade angle in real time and substantially simultaneously. The system includes a sensor configured to measure a vehicle pitch rate, a processor, and a computer-readable medium. The medium includes computer-executable instructions that, when executed by the processor, cause the processor to perform operations including estimating an estimated vehicle pitch using an observer and a vehicle pitch rate measured by the sensor. rate operation. The operations also include estimating the vehicle pitch angle using an observer and the measured vehicle pitch rate; and estimating the road grade angle based on the estimated vehicle pitch rate and the estimated vehicle pitch angle.
Description
technical field [0001] The present disclosure relates generally to systems and methods for estimating road grade angles and vehicle pitch angles, and more particularly to systems and methods for estimating such angles using a three-axis inertial measurement device. Background technique [0002] Modern vehicles are increasingly being equipped with autonomous driving (AD) systems. The operation of these systems is improved with the precision of available vehicle and environmental data. [0003] Advanced AD systems use data including road grade angle and vehicle pitch angle, especially during acceleration, deceleration and / or bank slopes. [0004] Road grade angle and vehicle pitch angle can be measured directly. For example, the angle can be measured using one or more dedicated optical sensors and / or a multi-antenna satellite arrangement (eg, Global Positioning System (GPS)). High precision GPS units can be placed at each of the four corners of the vehicle to measure the ve...
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IPC IPC(8): B60W30/00
CPCB60W40/076B60W2050/0031B60W2050/0035B60W2420/905B60W2520/16B60W40/11
Inventor S-K.陈N.K.莫什楚克J-J.陈D.M.西罗斯基
Owner GM GLOBAL TECH OPERATIONS LLC