公开(公告)号：US09623877B2

公开(公告)日：2017-04-18

申请号：US14888657

申请日：2014-05-02

Applicant: GM Global Technology Operations LLC

Inventor： Shih-ken Chen ,  Nikolai K. Moshchuk ,  Jin-Jae Chen ,  David M. Sidlosky

IPC: G01M17/00 ,  B60W40/11 ,  B60W40/076 ,  B60W50/00

CPC classification number: B60W40/11 ,  B60W40/076 ,  B60W2050/0031 ,  B60W2050/0035 ,  B60W2420/905 ,  B60W2520/16

Abstract: 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.

公开(公告)号：US20160068166A1

公开(公告)日：2016-03-10

申请号：US14888630

申请日：2014-05-02

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Shih-ken Chen ,  David M. Sidlosky ,  Jin-Jae Chen ,  Nikolai K. Moshchuk

IPC: B60W40/112

CPC classification number: B60W40/112 ,  B60W30/04 ,  B60W40/06 ,  B60W2400/00 ,  B60W2420/905 ,  B60W2520/18

Abstract: A system, for use at a vehicle to estimate vehicle roll angle and road bank angle, in real time and generally simultaneously. The system includes a sensor configured to measure vehicle roll rate, a processor; and a computer-readable medium. The medium includes instructions that, when executed by the processor, cause the processor to perform operations comprising estimating, using an observer and the vehicle roll rate measured by the sensor, a vehicle roll rate. The operations also include estimating, using an observer and a measured vehicle roll rate, the vehicle roll angle, and estimating, based on the vehicle roll rate estimated and the vehicle roll angle estimated, the road bank angle.

Abstract translation: 用于车辆的系统实时地和大体上同时地估计车辆侧倾角和道路行驶角度。 该系统包括被配置为测量车辆滚动速率的传感器，处理器; 和计算机可读介质。 介质包括指令，当由处理器执行时，使得处理器执行包括使用观测器估计和由传感器测量的车辆滚动速率的车辆滚动速率的操作。 这些操作还包括估计，使用观察者和测量的车辆滚动率，车辆侧倾角度，以及基于估计的车辆滚动速度和所估计的车辆侧倾角来估计道路行驶角度。