Road gradient estimation arbitration

• US 10,042,815 B2
• Filed: 01/07/2013
• Issued: 08/07/2018
• Est. Priority Date: 08/31/2012
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Yu, Hai
• Primary Examiner(s): Ismail, Mahmoud S
• Application Number:
  US13/735,274
• Publication Number:
  US 20140067153A1
• Time in Patent Office: 2,038 Days
• Field of Search: 701 1, 701 70, 701 334, 701 69, 701 48, 701 61, 701 80, 701 41, 477185, 702 41, 702150
• CPC Class Codes: B60T 8/24 responsive to vehicle inclination or change of direction, e.g. negotiating bends using electrical circuitry or regulation means B60T8/17
• CPC Class Codes: B60W 40/076 Slope angle of the road
• CPC Class Codes: B60W 40/107 Longitudinal acceleration
• CPC Class Codes: B60W 40/13 Load or weight
• CPC Class Codes: G01L 3/00 Measuring torque, work, mechanical power, or mechanical efficiency, in general
• CPC Class Codes: G01P 15/00 Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
• CPC Class Codes: G06F 17/00 Digital computing or data processing equipment or methods, specially adapted for specific functions information retrieval, database structures or file system structures therefor G06F16/00

Abstract

A vehicle and vehicle system are provided with a controller that is configured to generate output indicative of a road gradient based on at least one of a first estimation, a second estimation and a third estimation. The road gradient is based on the first estimation when a vehicle speed is less than a speed threshold and an input indicative of a longitudinal acceleration is available. The road gradient is based on the second estimation when the vehicle speed is greater than the speed threshold and the longitudinal acceleration is available. The road gradient is based on the third estimation when the longitudinal acceleration is not available.

Claims

1. A vehicle comprising:

a controller configured to generate output indicative of a road gradient derived from a first gradient estimation when a vehicle speed is less than a speed threshold and a signal indicative of longitudinal acceleration sensor input quality exceeds a threshold, a second gradient estimation when the vehicle speed exceeds the speed threshold and the signal exceeds the threshold, and a third gradient estimation when the signal does not exceed the threshold.

2. The vehicle of claim 1 wherein the road gradient is independent of a vehicle pitch angle.

3. The vehicle of claim 1 further comprising:

an inertial sensor for providing an output indicative of the longitudinal acceleration;

wherein the first gradient estimation comprises a static road gradient estimation based on the longitudinal acceleration.

4. The vehicle of claim 1 wherein the second gradient estimation comprises a kinematic road gradient estimation based on the vehicle speed and a longitudinal acceleration.

5. The vehicle of claim 1 wherein the third gradient estimation comprises a dynamic road gradient estimation based on the vehicle speed and at least one of a wheel torque and a wheel force.

6. The vehicle of claim 1 wherein the controller is further configured to:

generate the output indicative of the road gradient corresponding to an estimation having an estimation output that has updated within a predetermined period of time.

7. The vehicle of claim 1 wherein each estimation further comprises an estimation quality factor, wherein the estimation quality factor is indicative of an availability and accuracy of a corresponding estimation;

wherein the controller is further configured to select the estimation based in part on the estimation quality factor.

8. The vehicle of claim 7 wherein the controller is further configured to:

select the first gradient estimation when a first estimation quality factor corresponding to the first gradient estimation is equal to a value indicative of full quality.

9. The vehicle of claim 7 wherein the controller is further configured to:

select the second gradient estimation when a second estimation quality factor corresponding to the second gradient estimation is equal to a value indicative of full quality.

10. The vehicle of claim 7 wherein the controller is further configured to:

generate an output indicative of a road gradient quality factor based on the estimation quality factor of a selected estimation.

11. A vehicle system comprising:

a controller configured to;

generate output indicative of a road gradient based on a selected estimation that is a static estimation when a vehicle speed is less than a speed threshold and a signal indicative of longitudinal acceleration sensor input quality exceeds a threshold, a kinematic estimation when the vehicle speed is greater than the speed threshold and the signal exceeds the threshold, and a dynamic estimation when the signal does not exceed the threshold, and

generate output indicative of a quality factor corresponding to the selected estimation.

12. The vehicle of claim 11 wherein each estimation further comprises an estimation quality factor, wherein the estimation quality factor is indicative of an availability and accuracy of a road gradient value resulting from a corresponding estimation;

wherein the controller is further configured to select the road gradient value of the estimation having an estimation quality factor that is greater than the estimation quality factors associated with the other estimations.

13. The vehicle system of claim 11 wherein a static quality factor is based on a derivative of the longitudinal acceleration.

14. The vehicle system of claim 11 wherein a kinematic quality factor is based on quality factors associated with the vehicle speed and the longitudinal acceleration.

15. The vehicle system of claim 11 wherein a dynamic quality factor is based on quality factors associated with the vehicle speed and at least one of a wheel torque and a wheel speed.

16. A method for arbitrating road gradient estimation, comprising:

generating, by a controller, output indicative of a road gradient based on a static estimation when a vehicle speed is less than a speed threshold and a signal indicative of longitudinal acceleration sensor input quality exceeds a threshold, a kinematic estimation when the vehicle speed is greater than the speed threshold and the signal exceeds the threshold, and a dynamic estimation when a longitudinal acceleration signal does not exceed the threshold, and

generating, by the controller, output indicative of a quality factor corresponding to a selected estimation.

17. The method of claim 16 further comprising:

reducing an estimation quality factor associated with at least one of the kinematic estimation and the dynamic estimation when a derivative of the corresponding estimation value is greater than an estimation threshold for longer than a predetermined period of time.

18. The method of claim 16 further comprising:

locking the road gradient to a present value of the selected estimation in response to the vehicle speed being less than a low speed threshold.

19. The method of claim 18 further comprising:

reducing the quality factor when a difference between a locked road gradient and the selected estimation is greater than a difference threshold.

20. The method of claim 19 further comprising:

setting the quality factor to a low value indicative of the road gradient not being available, when the difference between the locked road gradient and the selected estimation is greater than a second difference threshold, wherein the second difference threshold is greater than the difference threshold.