System and method for determining a vehicle velocity parameter

摘要

A method is described for estimating longitudinal velocity of a vehicle on a road surface. The method includes obtaining a measured value of vehicle acceleration, which is dependent on longitudinal acceleration of the vehicle and vertical acceleration of the vehicle when a slope of the road surface is non-zero. The method includes determining an initial estimate of the slope. The method includes determining a difference between the initial estimate of the slope and a prior estimate of the slope and, based on the difference, setting a current estimate of the slope to be equal to the initial estimate or the prior estimate. The method includes estimating the longitudinal velocity of the vehicle based on the current estimate of the slope and the measured value of vehicle acceleration. The method includes controlling at least one wheel of the plurality of wheels based on the estimated longitudinal velocity of the vehicle.

主权项

1. A method for estimating longitudinal velocity of a vehicle that is operating on a longitudinally-extending road surface, the vehicle having a plurality of wheels including a first set of wheels and a second set of wheels, the first set of wheels being spaced apart from the second set of wheels along a longitudinal axis of the vehicle, the longitudinal velocity of the vehicle being parallel to the longitudinal axis of the vehicle, and the road surface having a slope that is associated with changes in elevation of the road surface as the vehicle travels along the road surface, the method implemented by instructions stored on a non-transitory computer-readable medium and executed on a processor, the method comprising:
obtaining a measured value of vehicle acceleration from an acceleration sensor, wherein the measured value of vehicle acceleration is based on (i) longitudinal acceleration of the vehicle as well as on (ii) vertical acceleration of the vehicle when the slope of the road surface is non-zero, wherein the longitudinal acceleration of the vehicle is acceleration of the vehicle in a direction parallel to the longitudinal axis of the vehicle; determining an initial estimate of the slope of the road surface; determining a difference between the initial estimate of the slope of the road surface and a prior estimate of the slope of the road surface; based on a magnitude of the difference, setting a current estimate of the slope of the road surface to be equal to one of (i) the initial estimate of the slope of the road surface and (ii) a value based on the prior estimate of the slope of the road surface; estimating the longitudinal velocity of the vehicle based on (i) the current estimate of the slope of the road surface and (ii) the measured value of vehicle acceleration; and controlling at least one wheel of the plurality of wheels based on the estimated longitudinal velocity of the vehicle.