VERFAHREN UND SYSTEM ZUM ERKENNEN DER GESCHWINDIGKEITSRICHTUNG EINES FAHRZEUGS UND DER FAHRBAHNNEIGUNG

摘要

A method of estimating the slope of a road surface on which is positioned a motor vehicle provided with a velocity sensor for measuring the modulus of the velocity of the vehicle and with an accelerometer for measuring the acceleration in the longitudinal direction of the vehicle comprises the following operations: a) providing a signal indicating the measurement of the velocity of the vehicle (V1) by means of the velocity sensor; b) providing a signal indicating the measurement of the acceleration in the longitudinal direction of the vehicle (AxVehFilV) by means of the accelerometer; c) processing the velocity measurement signal (V1) and the acceleration measurement signal (AxVehFilV) by means of a mathematical model based on the relation A x = v + g sin±, where A x represents the measurement of acceleration in the longitudinal direction of the vehicle, v indicates the component of longitudinal acceleration of the vehicle along the road surface, g is the gravitational acceleration, and ± represents the angle of inclination of the road surface, in such a way as to determine an estimated value of the slope of the road surface (StimaPend); d) processing the velocity measurement signal (V1), the acceleration measurement signal (AxVehFilV) and the estimated value of the slope (StimaPend) in such a way as to determine the sign of the velocity of the vehicle (Segno) ; and e) repeating operations a) to d) recursively according to a predetermined rule, in which the sign of the velocity (Segno) determined in operation d) of a specific recursive step is used as an additional input for operation c) of the successive recursive step to correct the estimated value of the slope (StimaPend).