Method and system for vehicle trajectory estimation
First Claim
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1. A method of estimating a trajectory of a vehicle having an Electronic Stability Program (ESP), the method comprising the steps of:
- obtaining sensor data pertaining to dynamics of the vehicle; and
calculating an estimate of the trajectory of the vehicle using the sensor data and vehicle dynamics parameters estimated by the ESP;
wherein the steps of obtaining sensor data and calculating the estimate of the trajectory of the vehicle are performed independently of any external signal communication infrastructure-based trajectory estimation tools.
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Abstract
In a method and system for estimating a trajectory of a vehicle having an Electronic Stability Program (ESP), sensor data pertaining to dynamics of the vehicle is obtained, and an estimate of the trajectory of the vehicle is calculated using the sensor data and vehicle dynamics parameters estimated by the ESP. The acquisition of the sensor data and the calculation of vehicle trajectory estimates occur independently of any external signal communication infrastructure-based trajectory estimation tools.
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Citations
25 Claims
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1. A method of estimating a trajectory of a vehicle having an Electronic Stability Program (ESP), the method comprising the steps of:
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obtaining sensor data pertaining to dynamics of the vehicle; and
calculating an estimate of the trajectory of the vehicle using the sensor data and vehicle dynamics parameters estimated by the ESP;
wherein the steps of obtaining sensor data and calculating the estimate of the trajectory of the vehicle are performed independently of any external signal communication infrastructure-based trajectory estimation tools. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 18, 19)
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15. A method of estimating a trajectory of a vehicle having an Electronic Stability Program (ESP), the method comprising the steps of:
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a) obtaining a yaw rate and a lateral acceleration of the vehicle at an instant in time using sensors;
b) deriving further parameters pertaining to dynamics of the vehicle using the ESP;
c) calculating an estimate of the instantaneous position of the vehicle relative to a stationary coordinate system using the yaw rate, the lateral acceleration and the further parameters;
d) repeating steps a) to c) over time; and
e) assembling an estimation of the trajectory of the vehicle from a series of vehicle positions. - View Dependent Claims (16, 17)
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20. A system for estimating a trajectory of a vehicle having an Electronic Stability Program (ESP), comprising:
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an electronic control unit including a RAM unit and a ROM unit, the ROM unit storing the ESP;
a data bus coupled to the electronic control unit;
a yaw rate sensor coupled to the data bus for detecting yaw rate data, the yaw rate sensor communicating the yaw rate data to the electronic control unit via the data bus, and a lateral acceleration sensor coupled to the data bus for detecting lateral acceleration data, the lateral acceleration sensor communicating the lateral acceleration data to the electronic control unit via the data bus;
wherein the electronic control unit executes the ESP and calculates vehicle dynamics parameters and computes an estimate of the trajectory of the vehicle using the yaw rate data, the lateral acceleration data and the vehicle dynamics parameters. - View Dependent Claims (21, 22, 23, 24, 25)
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Specification