Apparatus and Method for Pitch State Estimation for a Vehicle

• US 20080161990A1
• Filed: 08/13/2007
• Published: 07/03/2008
• Est. Priority Date: 08/11/2006
• Status: Active Grant

• Current Assignee: Segway Incorporated (Ninebot Ltd.)
• Original Assignee: Segway Incorporated (Ninebot Ltd.)
• Inventors: Gansler, Michael T.
• Granted Patent: US 7,979,179 B2
• Time in Patent Office: Days
• US Class Current: 701/29
• CPC Class Codes: B60W 2050/0035 Multiple-track, 3D vehicle model, e.g. including roll and pitch conditions
• 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: G01M 17/04 Suspension or damping

Abstract

An apparatus and method for a pitch state estimator is provided. The pitch state estimator generates a pitch state signal for establishing the orientation used in the control of a ground-traversing vehicle. The vehicle has a support for supporting a load which is preferably a human passenger. In one embodiment, the pitch state estimator includes a pitch sensor connected to the vehicle producing a pitch signal representing an estimate of a pitch angle of the vehicle. The pitch angle is associated with a coordinate system referenced to gravity. The pitch state estimator also includes at least one inertial reference sensor connected to the vehicle producing an inertial orientation signal with respect to the vehicle. Further included is a state estimator module for receiving the pitch signal and the inertial orientation signal and calculating a pitch state signal from the inertial orientation signal and the pitch signal sensor. The pitch state signal is provided to a control loop of the vehicle for dynamically maintaining stability of the vehicle.

Claims

1. An computerized method for generating a pitch state signal used in control of a ground traversing vehicle, the method being of the type including:

from at least three inertial sensors positioned in three or more non-collinear orientations on the vehicle, deriving three or more digital inertial orientation signals;

calculating a first pitch state signal in a three-axis state estimator module based on the three or more digital inertial orientation signals;

from an additional orientation sensor positioned on the vehicle, deriving an additional digital orientation signal;

calculating a second pitch state signal in a single-axis state estimation based on the digital inertial orientation signals and the additional digital orientation signal;

and using the first and second pitch state signals in a first slew logic estimator module providing a pitch state output signal that mediates between an output from the three-axis state estimator module and the second slew logic estimator module wherein the improvement comprises;

calculating a first intermediate pitch state signal in a first single-axis estimator based on the digital inertial orientation signals;

calculating a second intermediate pitch state signal in a second single-axis state estimator based on the additional digital orientation signal; and

using the first and second intermediate pitch state signals in a second slew logic estimator module to provide the second pitch state signal;

so that, in the presence of a fault condition associated with either one or more of the three digital inertial orientation signals or the additional digital orientation signal, the second slew logic estimator module nevertheless provides a single-axis state estimation substantially devoid of discontinuity.

2. The method of claim 1, wherein the step of calculating the first pitch state signal comprises:

transforming the three or more inertial orientation signals into three axial inertial orientation signals so that each signal corresponds to the orientation of one axis of three perpendicular axes;

transforming the three axial inertial orientation signals into gravity based orientation signals so that each signal corresponds to a gravity based orientation system;

transforming the three gravity based orientation signals into three angular signals, one signal representative of the first pitch state signal; and

providing the first pitch state signal to a control loop of the vehicle for dynamically maintaining stability of the vehicle.

3. The method of claim 1, comprising detecting the presence of a fault condition in response to detecting an error in either at least one of the three or more digital inertial orientation signals or the additional digital orientation signal.

4. The method of claim 3, wherein the second slew logic estimator module provides the second intermediate pitch state signal to the first slew logic estimator module in response to detecting an error in at least one of the three or more digital inertial orientation signals or the second slew logic estimator module provides the first intermediate pitch state signal to the first slew logic estimator module in response to detecting an error in the additional digital orientation signal.

5. The method of claim 4, wherein the first slew logic estimator module provides the second pitch state estimate to a control loop of the vehicle in response to detecting an error in at least one of the three or more digital inertial orientation signals or the first pitch state signal to the control loop of the vehicle in response to detecting an error in the additional digital orientation signal.

6. The method of claim 1, comprising determining if a fault condition is present comprising,

calculating a pitch rate error by passing output signals from the at least three inertial sensors through filters that are configured such that the sum of the output of the filters equals zero when the inertial sensors are operating with no error;

and

summing outputs of the filters; and

comparing the sum of the output of the filters to a predefined threshold value determining if a fault condition is present.

7. The method of claim 6, comprising:

calculating a pitch angle error by passing the summed output of the filters through an additional summer; and

integrating the output of the additional summer to produce a pitch angle error; and

comparing the pitch angle error to a predefined threshold value determining if a fault condition that cannot be corrected has occurred.

8. The method according to claim 7, wherein the pitch angle error detected in the inertial measurement sensor is corrected by using the pitch angle error as feedback in a pitch state estimator.

9. An improved apparatus for generating a pitch state signal used in control of a ground-traversing vehicle, the apparatus being of the type including

at least three inertial sensors positioned in three or more non-collinear orientations on the vehicle, having outputs by which may be derived three or more digital inertial orientation signals;

a three-axis state estimator module, having an input coupled to the three or more digital inertial orientation signals, for calculating a first pitch state signal;

an additional orientation sensor, positioned on the vehicle, having an output by which may be derived an additional digital orientation signal;

logic for performing a single-axis state estimation of a second pitch state signal based on the digital inertial orientation signals and the additional digital orientation signal; and

a first slew logic estimator module, having an input coupled to the first and second pitch state signals, for providing a pitch state output signal, the first slew logic module mediating between an output from the three-state estimator module and a second slew logic estimator module wherein the improvement comprises;

a first single-axis state estimator module, having an input coupled to the three or more digital inertial orientation signals for calculating a first intermediate pitch state signal;

a second single-axis state estimator module having an input coupled to the additional digital orientation signal, for calculating a second intermediate pitch state signal; and

the second slew logic estimator module, having an input coupled to the first and second intermediate pitch state signals, and an output coupled to an input of the first slew logic estimator module,

so that, in the presence of a fault condition associated with either one or more of the three digital inertial orientation signals or the additional digital orientation signal, the second slew logic estimator module nevertheless provides a single-axis state estimation substantially devoid of discontinuity.

10. The apparatus according to claim 9, wherein at least one inertial sensor is a gyroscope.

11. The apparatus according to claim 9, wherein the at least three inertial reference sensors are at least three gyroscopes.

12. The apparatus according to claim 11, comprising a virtual-gyro construction module for receiving the three or more digital inertial orientation signals of the at least three gyroscopes and outputting to a state estimator module three rotation rate signals, wherein each rotation rate signal represents a rotation rate about one axis of three perpendicular axes.

13. The apparatus according to claim 9, comprising:

a fault detection module for detecting the presence of erroneous inertial orientation signals produced by at least one of the inertial sensors.

14. An computerized method for generating an orientation signal used in control of a ground traversing vehicle, the method being of the type including:

from at least three inertial sensors positioned in three or more non-collinear orientations on the vehicle, deriving three or more digital inertial orientation signals;

calculating a first orientation signal in a three-axis state estimator module based on the three or more digital inertial orientation signals;

from an additional orientation sensor positioned on the vehicle, deriving an additional digital orientation signal;

calculating a second orientation signal in a single-axis state estimation based on the digital inertial orientation signals and the additional digital orientation signal;

and using the first and second orientation signals in a first slew logic estimator module providing an orientation output signal that mediates between an output from the three-axis state estimator module and the single-axis state estimation;

wherein the improvement comprises;

calculating a first intermediate orientation signal in a first single-axis estimator based on the digital inertial orientation signals;

calculating a second intermediate orientation signal in a second single-axis state estimator based on the additional digital orientation signal; and

using the first and second intermediate orientation signals in a second slew logic estimator module to provide the second orientation signal;

so that, in the presence of a fault condition associated with either one or more of the three digital inertial orientation signals or the additional digital orientation signal, the second slew logic estimator module nevertheless provides a single-axis state estimation substantially devoid of discontinuity.

15. The method of claim 14, wherein the first and second orientation signals are pitch state signals, roll state signals or yaw state signals.