Sensor Drift Estimation for Vehicle Attitude Stability
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Conventional sensor drift estimation techniques fail to accurately estimate sensor drift in non-stationary or non-uniform motion states, leading to instability in sensor data accuracy.
Innovation Solution
A sensor drift amount estimating device that computes derivative amounts of attitude angles and vehicle speeds, integrates these values, and uses equations of motion to estimate sensor drift, considering the relationship between computed and motion-derived derivative amounts to stabilize drift estimation across varying vehicle motions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of manufacture
If conventional stationary-state judgment techniques are used to estimate sensor drift, then the estimation is simple to implement, but the drift amount cannot be estimated when the vehicle is not stationary or not moving at uniform speed
Solution Approach 1:
The patent transitions from static drift estimation (requiring stationary state) to dynamic drift estimation by using real-time vehicle motion state detection. The system continuously monitors acceleration, angular velocity, and wheel speed to determine current motion state, enabling drift estimation to adapt to changing vehicle conditions rather than requiring fixed stationary conditions.
Solution Approach 2:
The patent changes the parameters used for drift estimation from simple stationary-state indicators to multiple motion state parameters including acceleration values, angular velocity values, and wheel speed differences. By monitoring these parameter changes over time and comparing them against threshold values, the system can identify straight traveling states even during motion, enabling drift estimation across broader operating conditions.
2Device complexity
If sensor drift estimation is performed only in stationary or straight traveling states, then the estimation method is simple, but the accuracy of attitude angle estimation deteriorates during turning or non-uniform motion
Solution Approach 1:
The patent implements feedback by continuously comparing detected motion state parameters against threshold values and using this comparison to dynamically adjust drift estimation. The system monitors acceleration, angular velocity, and wheel speed, compares these against predetermined thresholds, and uses the comparison results to determine whether straight traveling state conditions are met, enabling continuous feedback-based drift compensation.
Solution Approach 2:
The patent creates a universal drift estimation system that functions across multiple vehicle states by integrating multiple detection mechanisms. The system can estimate drift during stationary conditions, uniform straight traveling, and various motion states by combining information from acceleration sensors, angular velocity sensors, and wheel speed sensors, making the drift estimation capability applicable to all driving scenarios.
3Measurement precision
If multiple sensor parameters are monitored and compared against threshold values to determine motion state, then drift estimation accuracy improves, but the computational complexity and processing time increase
Solution Approach 1:
The patent applies partial action by selectively processing only the necessary subset of sensor data based on current vehicle state. Rather than continuously analyzing all motion parameters regardless of condition, the system checks specific parameters (acceleration, angular velocity, wheel speed) against thresholds and processes drift estimation only when straight traveling state conditions are satisfied, reducing unnecessary computational overhead while maintaining accuracy when needed.
Data Source
AI summary
An attitude angle estimating means computes a derivative amount of an attitude angle with respect to a vertical axis of a vehicle body, and integrates the computed derivative amount of the attitude angle, and estimates the attitude angle. On the basis of the sensor signal and the attitude angle estimated by the attitude angle estimating means, a computing means computes a derivative amount of the attitude angle obtained from equations of motion for vehicle motion. A drift amount estimating means estimates a sensor drift amount of the sensor signal by using a relationship that, when taking a sensor drift amount of the sensor signal into consideration, the derivative amount of the attitude angle computed by the attitude angle estimating means, and a value that considers a sensor drift amount in the derivative amount of the attitude angle computed by the computing means, are equal.