Integrated grade and pitch estimation using a three-axis inertial-measuring device

摘要

A system for use at a vehicle to estimate vehicle pitch angle and road grade angle, in real time and generally simultaneously. The system includes a sensor configured to measure 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 comprising estimating, using an observer and the vehicle pitch rate measured by the sensor, an estimated vehicle pitch rate. The operations further comprise estimating, using an observer and the measured vehicle pitch rate, the vehicle pitch angle, and estimating, based on the estimated vehicle pitch rate and the vehicle pitch angle estimated, the road grade angle.

主权项

1. A system, for use at a vehicle to estimate a road grade angle, comprising:
a sensor configured to measure vehicle pitch rate; a processor; and a non-transitory computer-readable storage device comprising computer-executable instructions having a virtual observer, wherein the virtual observer includes an observer gain and the instructions, when executed by the processor, cause the processor to perform operations comprising:
estimating, using the virtual observer and the vehicle pitch rate measured by the sensor, a vehicle pitch rate, yielding an estimated vehicle pitch rate, wherein, due to use of the virtual observer and its gain, any difference between the estimated vehicle pitch rate and an actual vehicle pitch rate is smaller than a difference between the measured vehicle pitch rate and the actual vehicle pitch rate;estimating, using the virtual observer and the measured vehicle pitch rate, a vehicle pitch angle, yielding an estimated vehicle pitch angle; andestimating, based on the estimated vehicle pitch rate and the estimated vehicle pitch angle, the road grade angle.