| 摘要 |
<p>A ground speed determination module 20 (GSD) is operable to calculate an absolute ground speed of the vehicle independent of a rotational speed of wheels and, to this end, the GSD module 20 receives data from a plurality of vehicle sensor systems into an input/output unit 56 (I/O unit). The GSD module 20 receives a first data input 60 from a global navigation satellite system receiver (10, fig 1) (GNSS/GPS), a second data input 62 from at least one radar sensor (8) and a third data input 64 from one or more ultrasonic sensors (6). A controller 50 is operable to arbitrate between the data inputs 60-64 in dependence on one or more of a reliability of the data inputs and a vehicle operating condition, and then provides priority to one of the data inputs to calculate the ground speed. The ground speed output 66 is used in one or more client systems, such as a hill descent system and a terrain response system etc. Reference is also made to a method of determining ground speed and to a vehicle having apparatus for determining ground speed.</p> |
