Device for detecting the attitude of motor vehicles

• US 10,126,130 B2
• Filed: 11/06/2015
• Issued: 11/13/2018
• Est. Priority Date: 11/10/2014
• Status: Active Grant

• Current Assignee: Magneti Marelli S.p.A.
• Original Assignee: Magneti Marelli S.p.A.
• Inventors: Pesciarolo, Alessandro, Spinella, Giuseppe, Armeni, Saverio
• Primary Examiner(s): Le, Toan
• Application Number:
  US14/934,873
• Publication Number:
  US 20160131482A1
• Time in Patent Office: 1,103 Days
• CPC Class Codes: B60W 2050/0055 High-pass filters
• CPC Class Codes: B60W 2050/0056 Low-pass filters
• CPC Class Codes: B60W 40/10 related to vehicle motion
• CPC Class Codes: B60W 40/11 Pitch movement
• CPC Class Codes: B60W 40/112 Roll movement
• CPC Class Codes: B60W 40/114 Yaw movement
• CPC Class Codes: G01C 21/183 Compensation of inertial measurements, e.g. for temperature effects
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled
• CPC Class Codes: G01S 19/53 Determining attitude

Abstract

Described herein is a device for detecting the attitude of motor vehicles, which comprises using at least one filter of a complementary type for computing an estimate ({circumflex over (x)}_i) of angles of attitude (θ, φ, ψ) of the motor vehicle as a function of input signals comprising an acceleration signal (A) and an angular-velocity signal (ω). According to the invention, the device (10) comprises a plurality of complementary filters (12₁, . . . , 12_n) each tuned for operating in a specific dynamic range, and a supervisor unit (11), that acts to recognize the dynamic range of the input signals (A, ω) and select a corresponding filter (12_i) from said plurality of complementary filters (12₁, . . . , 12_n).

Claims

1. A device for detecting the attitude of motor vehicles that comprises:

using at least one filter of a complementary type for computing an estimate ({circumflex over (x)}_i) of angles of attitude (θ

, φ

, ψ

) of the motor vehicle as a function of input signals including an acceleration signal (A) and an angular-velocity signal (ω

);

said device including a plurality of complementary filters, each tuned for operating in a specific dynamic range; and

a supervisor module, adapted to recognise the dynamic range of the input signals (A, ω

) and select a corresponding filter in said plurality of complementary filters, receiving the acceleration signal (A) and the angular-velocity signal (ω

) measured by respective sensors and, on the basis of the values of said input signals (A, ω

), controls a selector so that it selects one of the estimates ({circumflex over (x)}_i) available at the outputs of said plurality of complementary filters as output (U) of the attitude-detection device;

said supervisor module including a plurality of models of the vehicle defined as a function of dynamic quantities of the vehicle that affect the value of the attitude, each of said models generating an estimate of the dynamic quantities (Â

_x, Â

_y, Â

_z) comprising one or more of the acceleration values (Ax, Ay, Az) and/or of the gyroscope signals (p, q, r), said supervisor module further including a module for evaluating the model in said plurality of models that best estimates the current condition (DR_i) of the vehicle, and selecting a corresponding filter from said plurality of complementary filters on the basis of said evaluation.

2. The device as set forth in claim 1, wherein said supervisor module that acts to detect the level (Ax, Ay, Az) of the acceleration signal (A) and the level (p, q, r) of the angular velocity (ω

) and select, on the basis of said levels, the complementary filter to be used in the estimate of attitude from said plurality of complementary filters.

3. The device as set forth in claim 2, wherein said complementary filter comprises a module for computing the angle of inclination, or tilt, which receives at input the acceleration signal (A) and is adapted for supplying calculated values of the angles of roll (θ

), pitch (φ

), and yaw (ψ

), and a module for computing attitude rates, which receives at input the angular-velocity signal (ω

) and is adapted for computing the values of the first derivatives ({dot over (θ

)}, {dot over (φ

)}, {dot over (ψ

)}) of said angles of roll (θ

), pitch (φ

), and yaw (ψ

), said tilt-angle computing module and said attitude-rate computing module supplying said outputs to a control loop comprising complementary filters.

4. The device as set forth in claim 3, wherein the output of said tilt-angle computing module is supplied as set-point to the control loop for generating a difference signal (D) with respect to the estimate of attitude at output from the control loop, while the signal at output from the attitude-rate computing module is added to the output of a derivator block, which receives at input said difference signal (D), a resulting addition signal being supplied as input to an integrator, which generates said estimate of the angle of attitude of the vehicle ({circumflex over (x)}_i).

5. The device as set forth in claim 3, wherein said control loop acts as a complementary lowpass filter and a complementary highpass filter, the time constant (τ

) of which is set for tuning the filter with respect to a given dynamic range.

6. The device as set forth in claim 1, wherein said supervisor module comprises a plurality of different models of the vehicle that estimate one or more of the acceleration values (Ax, Ay, Az) and/or of the gyroscope signals (p, q, r) on the basis of measured values of dynamic quantities of the vehicle that affect the value of the attitude.

7. The device as set forth in claim 6, wherein said evaluation module is adapted for measuring an error (e₁, . . . , e_n) of each model calculated as distance of estimates (Â

_x, Â

_y, Â

_z) of each model from the values (Ax, Ay, Az) effectively measured and for identifying the minimum value (min (e₁, e₂, . . . , e_n)) of said error (e₁, . . . , e_n) and the corresponding model.

8. The device as set forth in claim 7, wherein said evaluation module is adapted for applying in the calculation of said distances (e₁, . . . , e_n) a cost functional (f) associated to a given condition of the vehicle, in particular a weighted measurement, the weights of which are chosen on the basis of observations on manoeuvres made by the motor vehicle.

9. The device as set forth in claim 1, wherein it is comprised in an inertial navigation system of a motor vehicle.