Roadway Bank Angle Determination via Sensor Fusion
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Solution Overview
Problem
Current systems lack an effective method to determine roadway bank angles based on vehicle information, which is crucial for vehicle dynamics control, especially in autonomous vehicles, as they rely on accurate friction and roll angle data.
Innovation Solution
A method that utilizes a combination of vehicle-dynamics-based and elevation-based approaches, using onboard sensors and GNSS data to determine roadway bank angles through equations involving friction acceleration, lateral acceleration, and roll angle, with the option to fuse results for enhanced accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If multiple determination approaches (vehicle-dynamics-based and elevation-based) are combined, then measurement precision of roadway bank angle is improved, but device complexity increases
Solution Approach 1:
The system divides the roadway bank angle determination into two separate functional modules: a vehicle-dynamics-based determination module that uses suspension sensor data to calculate bank angle from vehicle dynamics parameters, and an elevation-based determination module that uses GNSS elevation data to calculate bank angle from geometric relationships. Each module operates independently and can be selectively activated based on available data and operational conditions.
Solution Approach 2:
The system merges the outputs of the two independent determination approaches through a fusion process that combines the vehicle-dynamics-based bank angle estimate and the elevation-based bank angle estimate. This fusion can be performed through averaging, weighted combination, or selection based on confidence levels, thereby improving overall measurement precision by leveraging the strengths of both methods.
2Reliability
If multiple sensor data sources are integrated, then reliability of vehicle dynamics control is improved, but ease of operation deteriorates
Solution Approach 1:
The system implements a universal data processing framework that handles multiple types of sensor inputs (suspension sensors, GNSS receivers, onboard vehicle sensors) through a common architecture. The same processing pipeline and fusion algorithms are applied regardless of which data sources are active, making the system robust to variations in input data while maintaining ease of operation through standardized interfaces and procedures.
Solution Approach 2:
The system automatically selects and weights the appropriate determination approach based on the availability and quality of input data, without requiring manual intervention. The fusion process autonomously adjusts the contribution of each determination method based on confidence levels and data quality metrics, thereby improving reliability while maintaining ease of operation through automated decision-making.
Data Source
AI summary
A system and method for determining a roadway bank angle based on vehicle information. The method may include the steps of: obtaining vehicle information from at least one vehicle, the vehicle information is obtained from at least one of a global navigational satellite system (GNSS) receiver and one or more onboard vehicle sensors, and the GNSS receiver and the one or more onboard vehicle sensors are installed in the at least one vehicle; performing a roadway bank angle determination process using the obtained vehicle information to obtain a roadway bank angle; and updating a representative roadway bank angle based on the roadway bank angle.