Method for determining vehicle location including road surface data

• US 20060253248A1
• Filed: 04/14/2005
• Published: 11/09/2006
• Est. Priority Date: 04/14/2005
• Status: Active Grant

• Current Assignee: General Motors LLC (General Motors Company)
• Original Assignee: General Motors Corporation (General Motors Company)
• Inventors: Ames, Michael B., Hay, Curtis L.
• Granted Patent: US 9,121,715 B2
• Time in Patent Office: Days
• US Class Current: 701/207
• CPC Class Codes: B60G 2400/821 Uneven, rough road sensing affecting vehicle body vibration
• CPC Class Codes: B60G 2400/824 Travel path sensing; Track monitoring
• CPC Class Codes: G01C 21/12 executed aboard the object being navigated; Dead reckoning
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments

Abstract

A method of determining location of a vehicle includes receiving a wheel speed measurement and receiving a rough road parameter. A rough road weighting factor is determined based on the rough road parameter, and vehicle location is determined based on the determined rough road vehicle weighting factor and the wheel speed.

Claims

1. A method of determining location of a vehicle, the method comprising:

receiving a wheel speed measurement;

receiving a rough road parameter;

determining a rough road weighting factor based on the rough road parameter; and

determining a vehicle location based on the determined rough road weighting factor and the wheel speed measurement.

2. The method of claim 1 wherein the determining a vehicle location comprises inputting the rough road weighting factor and wheel speed into a navigation filter.

3. The method of claim 1 wherein the rough road weighting factor is a number between zero and 1.

4. The method of claim 1 wherein the rough road parameter is determined in response to a difference between wheel speeds of at least two wheels.

5. The method of claim 1 wherein the rough road weighting factor is determined linearly with respect to the rough road parameter.

6. The method of claim 1 wherein the rough road weighting factor is determined geometrically with respect to the rough road parameter.

7. The method of claim 1 wherein determining a vehicle location based on the determined rough road weighting factor and the wheel speed measurement comprises:

inputting the rough road weighting factor, a gyroscope input, and an accelerometer input into a navigational filter.

8. The method of claim 1 wherein receiving a rough road parameter comprises receiving a rough road parameter from a call center.

9. A computer readable medium storing a computer program for determining location of a vehicle, the medium including computer readable code comprising:

computer readable code for receiving a wheel speed measurement;

computer readable code for receiving a rough road parameter,

computer readable code for determining a rough road weighting factor based on the rough road parameter, and

computer readable code for determining a vehicle location based on the determined rough road vehicle weighting factor and the wheel speed measurement.

10. The medium of claim 9 wherein the computer readable code for determining a vehicle location comprises inputting the rough road weighting factor and wheel speed into a Navigation filter.

11. The medium of claim 9 wherein the rough road weighting factor is a number between zero and 1.

12. The medium of claim 9 wherein the rough road parameter is determined in response to a difference between wheel speeds of at least two wheels.

13. The medium of claim 9 wherein the rough road weighting factor is determined linearly with respect toe the rough road factor.

14. The medium of claim 9 wherein the rough road weighting factor is determined geometrically with respect to the rough road factor.

15. The medium of claim 9 wherein computer readable code for determining a vehicle location based on the determined rough road vehicle weighting factor and the wheel speed measurement comprises:

computer readable code for inputting the rough road weighting factor, a gyroscope input, and an accelerometer input into a navigational filter.

16. The medium of claim 9 wherein computer readable code for receiving a rough road parameter comprises computer readable code for receiving a rough road parameter from a call center.

17. A system for determining location of a vehicle, the system comprising:

means for receiving a wheel speed measurement;

means for receiving a rough road parameter;

means for determining a rough road weighting factor based on the rough road parameter; and

means for determining a vehicle location based on the determined rough road weighting factor and the wheel speed measurement.

18. The system of claim 17 wherein means for determining a vehicle location based on the determined rough road weighting factor and the wheel speed measurement comprises:

means for inputting the rough road weighting factor, a gyroscope input, and an accelerometer input into a navigational filter.

19. The system of claim 17 wherein means for receiving a rough road parameter comprises means for receiving a rough road parameter from a call center.