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公开(公告)号：US10981573B2
公开(公告)日：2021-04-20
申请号：US16023365
申请日：2018-06-29
发明人： Juan Herrera
IPC分类号： B60W40/06 , B60W30/14 , B60W40/107 , B60W40/109 , B60W40/11 , B60W40/112
摘要： A surface roughness estimator for a vehicle configured to generate a first surface roughness index value indicative of terrain surface roughness and to output a signal in dependence at least in part on the first surface roughness index value, the estimator being configured to receive first acceleration information indicative of a first acceleration along a first axis, receive second acceleration information indicative of a second acceleration along a second axis, calculate a combined value in dependence on the first acceleration and second acceleration, and adjust the combined value in dependence on a speed of the vehicle to generate the first surface roughness index value.
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公开(公告)号：US09534891B2
公开(公告)日：2017-01-03
申请号：US14020545
申请日：2013-09-06
发明人： Juan Herrera , Mark Flinders , Nick Solomon
CPC分类号： G01B21/22 , B60W40/076 , B60W2030/043 , B60W2050/0055 , B60W2420/905 , B60W2520/16 , G01M17/06 , G01P15/00
摘要： A method of angle estimation for use in a vehicle which is travelling on a surface. The vehicle includes a vehicle body having a first axis and being attached to at least two wheels. The method includes the steps of: providing a first height sensor for measuring h1, the height of the vehicle body with respect to the first wheel; providing a second height sensor for measuring h2, the height of the vehicle body with respect to the second wheel; providing a surface angle sensor for measuring θroad, the angle of the surface in relation to a horizontal plane; measuring the values of h1, h2 and θroad; using the values of h1 and h2 to calculate θrel, the angle of the vehicle body relative to the surface; and calculating an estimate of θglob, the angle between the first axis and the horizontal plane, from θroad and θrel.
摘要翻译： 一种用于在表面上行驶的车辆中的角度估计方法。 车辆包括具有第一轴线并附接到至少两个车轮的车体。 该方法包括以下步骤：提供用于测量h1的第一高度传感器，车身相对于第一车轮的高度; 提供用于测量h2的第二高度传感器，车身相对于第二轮的高度; 提供用于测量θroad的表面角度传感器，表面相对于水平面的角度; 测量h1，h2和θroad的值; 使用h1和h2的值来计算车身相对于表面的角度θrel; 并从θroad和θrel计算θglob的估计值，即第一轴和水平面之间的角度。
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公开(公告)号：US11042133B2
公开(公告)日：2021-06-22
申请号：US16183829
申请日：2018-11-08
发明人： Juan Herrera
摘要： Embodiments of the present invention provide a method of controlling a vehicle, comprising predicting a first parameter of a vehicle state at each of a plurality of points in time in dependence on a first parameter of a current vehicle state and a first model associated with the vehicle, predicting a second parameter of the vehicle state at each of the plurality of points in time in dependence on a second parameter of the current vehicle state, the predicted first parameter of the vehicle state and a second model associated with the vehicle, and determining one or more control inputs for the vehicle at each of the points in time in dependence on the predicted first and second parameters of the vehicle state at each of the plurality of points in time and desired first and second parameters of the vehicle state at each of the plurality of points in time.
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公开(公告)号：US10435028B2
公开(公告)日：2019-10-08
申请号：US15549988
申请日：2016-02-18
发明人： Juan Herrera , Stephen Docker
摘要： The present disclosure relates to an apparatus (1) for estimation of a vehicle state. The apparatus (1) includes a controller (21) configured to determine a first estimation of the vehicle state in dependence on at least one first vehicle dynamics parameter. A filter coefficient (FC) is calculated based on a first vehicle operating parameter. An operating frequency of a first signal filter (35) is set in dependence on the determined filter coefficient (FC) and the first estimation is filtered to generate a first filtered estimation of the vehicle state. The present disclosure also relates to a vehicle; and to a method of estimating a vehicle state.
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公开(公告)号：US20150073744A1
公开(公告)日：2015-03-12
申请号：US14020545
申请日：2013-09-06
发明人： Juan Herrera , Mark Flinders , Nick Solomon
CPC分类号： G01B21/22 , B60W40/076 , B60W2030/043 , B60W2050/0055 , B60W2420/905 , B60W2520/16 , G01M17/06 , G01P15/00
摘要： A method of angle estimation for use in a vehicle which is travelling on a surface. The vehicle includes a vehicle body having a first axis and being attached to at least two wheels. The method includes the steps of: providing a first height sensor for measuring h1, the height of the vehicle body with respect to the first wheel; providing a second height sensor for measuring h2, the height of the vehicle body with respect to the second wheel; providing a surface angle sensor for measuring θroad, the angle of the surface in relation to a horizontal plane; measuring the values of h1, h2 and θroad; using the values of h1 and h2 to calculate θrel, the angle of the vehicle body relative to the surface; and calculating an estimate of θglob, the angle between the first axis and the horizontal plane, from θroad and θrel.
摘要翻译： 一种用于在表面上行驶的车辆中的角度估计方法。 车辆包括具有第一轴线并附接到至少两个车轮的车体。 该方法包括以下步骤：提供用于测量h1的第一高度传感器，车身相对于第一车轮的高度; 提供用于测量h2的第二高度传感器，车身相对于第二轮的高度; 提供用于测量和表面的表面角度传感器;道路，表面相对于水平面的角度; 测量h1，h2和＆thetas; road的值; 使用h1和h2的值来计算车身相对于表面的角度; 并计算＆thetas的估计值; glob，第一轴和水平面之间的角度，来自＆thetas; road and＆thetas; rel。
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