Road gradient estimating system

• US 20090024354A1
• Filed: 07/18/2008
• Published: 01/22/2009
• Est. Priority Date: 07/18/2007
• Status: Active Grant

• Current Assignee: Advics Company Limited (Aisin Corp.), DENSO Corporation
• Original Assignee: Advics Company Limited (Aisin Corp.), DENSO Corporation
• Inventors: Niwa, Satoshi, Kadowaki, Kazunori, Osaki, Shintaro, Fukuda, Syotarou, Kodama, Hiroyuki, Takeda, Masayoshi, Kumabe, Hajime, Nakai, Yasuhiro
• Granted Patent: US 7,765,085 B2
• Time in Patent Office: Days
• US Class Current: 702/154
• CPC Class Codes: B60W 2552/15 Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence
• CPC Class Codes: B60W 40/072 Curvature of the road
• CPC Class Codes: B60W 40/076 Slope angle of the road
• CPC Class Codes: G01C 9/00 Measuring inclination, e.g. by clinometers, by levels

Abstract

An estimated gradient value of a road is calculated based on a vehicle acceleration “A” and a time varying portion “A′” of a wheel speed. In a case that an acceleration corresponding value “Ggrad0” for the estimated gradient value is not regarded as indicating an exact figure, due to influences of disturbances, the acceleration corresponding value “Ggrad0” is corrected by a limiting value for rate-of-change with regard to the road gradient depending on respective vehicle speed, and by a limiting value for the road gradient. As a result, the acceleration corresponding value “Ggrad” for the estimated gradient value can be more exactly obtained.

Claims

1. A road gradient estimating system comprising:

a first portion for calculating a first physical amount “

Ggrad0”

corresponding to an estimated gradient value of a road on which a vehicle is currently traveling, based on a difference between an acceleration “

A”

detected by an acceleration sensor for detecting acceleration of the vehicle in a vehicle longitudinal direction and an acceleration “

A′

”

of the vehicle with respect to the road;

a second portion for storing data for relation between vehicle speed and a second physical amount corresponding to a limiting value for rate-of-change of road gradient;

a third portion, to which information of vehicle speed is inputted, for calculating a third physical amount (α

up, α

down) corresponding to the limiting value for rate-of-change of road gradient at the inputted vehicle speed, based on the relation between the vehicle speed and the second physical amount stored in the second portion; and

a fourth portion for comparing rate-of-change of the first physical amount “

Ggrad0”

corresponding to the estimated gradient value with the third physical amount (α

up, α

down) corresponding to the limiting value for the rate-of-change of road gradient calculated at the third portion,

wherein the fourth portion corrects the first physical amount “

Ggrad0”

corresponding to the estimated gradient value, in such a manner that the first physical amount “

Ggrad0”

corresponding to the estimated gradient value is limited to the limiting value for the rate-of-change of road gradient calculated at the third portion, when the rate-of-change of the first physical amount “

Ggrad0”

corresponding to the estimated gradient value is larger than the third physical amount (α

up, α

down) corresponding to the limiting value for the rate-of-change of road gradient calculated at the third portion.

2. The road gradient estimating system according to the claim 1, wherein

operations of the first to fourth portions are repeatedly carried out for a predetermined calculating cycle,

the fourth portion compares the first physical amount “

Ggrad0”

calculated by the first portion in the current calculating cycle with a first upper limit (Ggrad1+α

up) and a first lower limit (Ggrad1−

α

down),

wherein the first upper limit (Ggrad1+α

up) is calculated by adding the third physical amount (α

up) calculated at the third portion in the current calculating cycle to a first corrected value “

Ggrad1”

, which corresponds to the first physical amount “

Ggrad0”

corrected in the previous calculating cycle,

wherein the first lower limit (Ggrad1−

α

down) is calculated by subtracting the third physical amount (α

down) calculated at the third portion in the current calculating cycle to the first corrected value “

Ggrad1”

, which corresponds to the first physical amount “

Ggrad0”

corrected in the previous calculating cycle,

wherein the first upper limit (Ggrad1+α

up) is decided as the first corrected value “

Ggrad1”

of the current calculating cycle, in the case that the first physical amount “

Ggrad0”

of the current calculating cycle is larger than the first upper limit (Ggrad1+α

up),

wherein the first physical amount “

Ggrad0”

of the current calculating cycle is decided as the first corrected value “

Ggrad1”

of the current calculating cycle, in the case that the first physical amount “

Ggrad0”

of the current calculating cycle is smaller than the first upper limit (Ggrad1+Cα

up) but larger than the first lower limit (Ggrad1−

α

down), and

wherein the first lower limit (Ggrad1−

α

down) is decided as the first corrected value “

Ggrad1”

of the current calculating cycle, in the case that the first physical amount “

Ggrad0”

of the current calculating cycle is smaller than the first lower limit (Ggrad1−

α

down).

3. The road gradient estimating system according to the claim 1, wherein

the second portion has a map, according to which the limiting value for the second physical amount corresponding to the rate-of-change of the road gradient becomes smaller as the vehicle speed becomes larger.

4. The road gradient estimating system according to the claim 1, wherein

the second portion has a map, according to which the limiting value for the second physical amount corresponding to the rate-of-change of the road gradient becomes smaller as the vehicle speed becomes smaller in a vehicle speed range lower than a predetermined value, and according to which the limiting value for the second physical amount corresponding to the rate-of-change of the road gradient becomes smaller as the vehicle speed becomes larger in a vehicle speed range higher than the predetermined value.

5. The road gradient estimating system according to the claim 4, wherein

the map for the vehicle speed range lower than the predetermined value is prepared based on the rate-of-change “

gdθ

”

of the road gradient, which is calculated by the following formula;

“

gdθ

=gθ

/t=gθ

V/L”

wherein

“

g”

is acceleration of gravity,

“

θ

”

is a permissible maximum value for the road gradient in case of the vehicle speed “

V”

,

“

V”

is the vehicle speed, and

“

L”

is a wheel base of the vehicle.

6. The road gradient estimating system according to the claim 1, further comprising:

a fifth portion for storing data for relation between the vehicle speed and a fifth physical amount corresponding to a limiting value for the road gradient;

a sixth portion, to which information of the vehicle speed is inputted, for calculating a second upper limit “

Gmax1” and

a second lower limit “

Gmin1”

for the estimated gradient value at the inputted vehicle speed, based on the relation between the vehicle speed and the fifth physical amount stored in the fifth portion;

a seventh portion compares the first corrected value “

Ggrad1”

calculated by the fourth portion with the second upper limit “

Gmax1” and

the second lower limit “

Gmin1”

,

wherein the second upper limit “

Gmax1”

is decided as a second corrected value “

Ggrad2”

for the estimated gradient value, in the case that the first corrected value “

Ggrad1”

is larger than the second upper limit “

Gmax1”

,

wherein the first corrected value “

Ggrad1”

is decided as the second corrected value “

Ggrad2”

for the estimated gradient value, in the case that the first corrected value “

Ggrad1”

is smaller than the second upper limit “

Gmax1”

but larger than the second lower limit “

Gmin1”

, and

wherein the second lower limit “

Gmin1”

is decided as the second corrected value “

Ggrad2”

for the estimated gradient value, in the case that the first corrected value “

Ggrad1”

is smaller than the second lower limit “

Gmin1”

.

7. The road gradient estimating system according to the claim 6, wherein

the fifth portion has a map, according to which the limiting value for the fifth physical amount corresponding to the road gradient becomes smaller as the vehicle speed becomes larger.

8. The road gradient estimating system according to the claim 6, further comprising:

an eighth portion, to which information of road gradient memorized in a navigation system is inputted, for calculating a third upper limit “

Gmax2” and

a third lower limit “

Gmin2”

for the estimated gradient value corresponding to the inputted road gradient,

wherein the eighth portion compares the second corrected value “

Ggrad2”

calculated by the seventh portion with the third upper limit “

Gmax2” and

the third lower limit “

Gmin2”

,

wherein the third upper limit “

Gmax2”

is decided as a third corrected value “

Ggrad3”

for the estimated gradient value, in the case that the second corrected value “

Ggrad2”

is larger than the third upper limit “

Gmax2”

,

wherein the second corrected value “

Ggrad2”

is decided as the third corrected value “

Ggrad3”

for the estimated gradient value, in the case that the second corrected value “

Ggrad2”

is smaller than the third upper limit “

Gmax2”

but larger than the third lower limit “

Gmin2”

, and

wherein the third lower limit “

Gmin2”

is decided as the third corrected value “

Ggrad3”

for the estimated gradient value, in the case that the second corrected value “

Ggrad2”

is smaller than the third lower limit “

Gmin2”

.

9. The road gradient estimating system according to the claim 1, wherein

the second portion stores data for relation between legal speed for the vehicle speed and the second physical amount corresponding to the limiting value for rate-of-change of road gradient, and

the third portion, to which information of the legal speed memorized in a navigation system is inputted in addition to the vehicle speed, calculates the third physical amount (α

up, α

down) corresponding to the limiting value for rate-of-change of road gradient at the inputted vehicle speed, based on the relation between legal speed and the second physical amount stored in the second portion.

10. A road gradient estimating system comprising:

a vehicle speed sensor mounted on a vehicle for detecting vehicle speed;

a first acceleration sensor mounted on the vehicle for detecting a first vehicle acceleration “

A”

in a vehicle longitudinal direction;

a second acceleration sensor mounted on the vehicle for detecting a second vehicle acceleration “

A′

”

with respect to a road, on which the vehicle is currently traveling; and

an electronic control unit for periodically calculating road gradient in each calculating cycle, based on the vehicle speed and the first and second vehicle accelerations “

A” and

“

A′

”

,

wherein the electronic control unit comprises;

a road gradient calculating portion for calculating an acceleration corresponding value “

Ggrad0”

for estimated gradient value, based on a difference between the first vehicle acceleration “

A” and

the second vehicle acceleration “

A′

;

a first-limiting-value calculating portion for receiving information for detected vehicle speed from the vehicle speed sensor, and having a first map for relation between the vehicle speed and a limiting value for rate-of-change of road gradient, the first-limiting-value calculating portion calculating a first limiting value (α

up, α

down) corresponding to the detected vehicle speed based on the first map;

a first comparing portion for comparing the acceleration corresponding value “

Ggrad0”

with a first upper limit “

Grad1(previous cycle)+α

up” and

with a first lower limit “

Grad1(previous cycle)−

α

down”

in order to correct the acceleration corresponding value “

Ggrad0”

to produce a first corrected value “

Ggrad1”

, wherein the first upper limit “

Grad1(previous cycle)+α

up” and

the first lower limit “

Grad1(previous cycle)−

α

down”

are calculated based on the first limiting value (α

up, α

down),

wherein the first upper limit “

Grad1(previous cycle)+α

up”

is produced as the first corrected value “

Ggrad1”

, in the case that the acceleration corresponding value “

Ggrad0”

is larger than the first upper limit “

Grad1(previous cycle)+α

up”

,

wherein the acceleration corresponding value “

Ggrad0”

is produced as the first corrected value “

Ggrad1”

, in the case that the acceleration corresponding value “

Ggrad0”

is smaller than the first upper limit “

Grad1(previous cycle)+α

up”

but larger than the first lower limit “

Grad1(previous cycle)−

α

down”

, and

wherein the first lower limit “

Grad1(previous cycle)−

α

down”

is produced as the first corrected value “

Ggrad1”

, in the case that the acceleration corresponding value “

Ggrad0”

is smaller than the first lower limit “

Grad1(previous cycle)−

α

down”

.

11. The road gradient estimating system according to the claim 10, wherein the electronic control unit further comprises;

a second-limiting-value calculating portion for also receiving the information for the detected vehicle speed from the vehicle speed sensor, and having a second map for relation between the vehicle speed and a limiting value for the road gradient, the second-limiting-value calculating portion calculating a second limiting value corresponding to the detected vehicle speed based on the second map; and

a second comparing portion for comparing the first corrected value “

Ggrad1”

produced by the first comparing portion with a second upper limit “

Gmax1” and

with a second lower limit “

Gmin1”

in order to correct the first corrected value “

Ggrad1”

to produce a second corrected value “

Ggrad2”

,

wherein the second upper limit “

Gmax1” and

the second lower limit “

Gmin1”

are calculated based on the second limiting value,

wherein the second upper limit “

Gmax1”

is produced as the second corrected value “

Ggrad2”

, in the case that the first corrected value “

Ggrad1”

is larger than the second upper limit “

Gmax1”

,

wherein the first corrected value “

Ggrad1”

is produced as the second corrected value “

Ggrad2”

, in the case that the first corrected value “

Ggrad1”

is smaller than the second upper limit “

Gmax1”

but larger than the second lower limit “

Gmin1”

, and

wherein the second lower limit “

Gmin1”

is produced as the second corrected value “

Ggrad2”

, in the case that the first corrected value “

Ggrad1”

is smaller than the second lower limit “

Gmin1”

.

12. The road gradient estimating system according to the claim 11, wherein the electronic control unit further comprises;

a third comparing portion for comparing the second corrected value “

Ggrad2”

produced by the second comparing portion with a third upper limit “

Gmax2” and

with a third lower limit “

Gmin2”

in order to correct the second corrected value “

Ggrad2”

to produce a third corrected value “

Ggrad3”

,

wherein the third upper limit “

Gmax2” and

the third lower limit “

Gmin2”

are calculated based on information for road gradient memorized in a navigation system for the vehicle,

wherein the third upper limit “

Gmax2”

is produced as the third corrected value “

Ggrad3”

, in the case that the second corrected value “

Ggrad2”

is larger than the third upper limit “

Gmax2”

,

wherein the second corrected value “

Ggrad2”

is produced as the third corrected value “

Ggrad3”

, in the case that the second corrected value “

Ggrad2”

is smaller than the third upper limit “

Gmax2”

but larger than the third lower limit “

Gmin2”

, and

wherein the third lower limit “

Gmin2”

is produced as the third corrected value “

Ggrad3”

, in the case that the second corrected value “

Ggrad2”

is smaller than the third lower limit “

Gmin2”

.

13. A road gradient estimating system comprising:

a vehicle speed sensor mounted on a vehicle for detecting vehicle speed;

a first acceleration sensor mounted on the vehicle for detecting a first vehicle acceleration “

A”

in a vehicle longitudinal direction;

a second acceleration sensor mounted on the vehicle for detecting a second vehicle acceleration “

A′

”

with respect to a road, on which the vehicle is currently traveling;

a navigation system mounted on the vehicle for memorizing information of legal speed for respective roads; and

an electronic control unit for periodically calculating road gradient in each calculating cycle, based on the vehicle speed and the first and second vehicle accelerations “

A” and

“

A′

”

,

wherein the electronic control unit comprises;

a road gradient calculating portion for calculating an acceleration corresponding value “

Ggrad0”

for estimated gradient value, based on a difference between the first vehicle acceleration “

A” and

the second vehicle acceleration “

A′

;

a first-limiting-value calculating portion for receiving the information of the legal speed from the navigation system and information for detected vehicle speed from the vehicle speed sensor, and having a first map for relation between the legal speed and a curvature radius of the road for a current position of the vehicle, in order to calculate a first limiting value (α

up, α

down) for rate-of-change of road gradient based on the detected vehicle speed and the curvature radius obtained from the first map;

a first comparing portion for comparing the acceleration corresponding value “

Ggrad0”

with a first upper limit “

Grad1(previous cycle)+α

up” and

with a first lower limit “

Grad1(previous cycle)−

α

down”

in order to correct the acceleration corresponding value “

Ggrad0”

to produce a first corrected value “

Ggrad1”

, wherein the first upper limit “

Grad1(previous cycle)+α

up” and

the first lower limit “

Grad1(previous cycle)−

α

down”

are calculated based on the first limiting value (α

up, α

down),

wherein the first upper limit “

Grad1(previous cycle)+α

up”

is produced as the first corrected value “

Ggrad1”

, in the case that the acceleration corresponding value “

Ggrad0”

is larger than the first upper limit “

Grad1(previous cycle)+α

up”

,

wherein the acceleration corresponding value “

Ggrad0”

is produced as the first corrected value “

Ggrad1”

, in the case that the acceleration corresponding value “

Ggrad0”

is smaller than the first upper limit “

Grad1(previous cycle)+α

up”

but larger than the first lower limit “

Grad1(previous cycle)−

α

down”

, and

wherein the first lower limit “

Grad1(previous cycle)−

α

down”

is produced as the first corrected value “

Ggrad1”

, in the case that the acceleration corresponding value “

Ggrad0”

is smaller than the first lower limit “

Grad1(previous cycle)−

α

down”

.

14. The road gradient estimating system according to the claim 13, wherein the electronic control unit further comprises;

a second-limiting-value calculating portion for also receiving the information of the legal speed from the navigation system, and having a second map for relation between the legal speed and a limiting value for the road gradient, the second-limiting-value calculating portion calculating a second limiting value corresponding to the detected legal speed based on the second map; and

a second comparing portion for comparing the first corrected value “

Ggrad1”

produced by the first comparing portion with a second upper limit “

Gmax1” and

with a second lower limit “

Gmin1”

in order to correct the first corrected value “

Ggrad1”

to produce a second corrected value “

Ggrad2”

,

wherein the second upper limit “

Gmax1” and

the second lower limit “

Gmin1”

are calculated based on the second limiting value,

wherein the second upper limit “

Gmax1”

is produced as the second corrected value “

Ggrad2”

, in the case that the first corrected value “

Ggrad1”

is larger than the second upper limit “

Gmax1”

,

wherein the first corrected value “

Ggrad1”

is produced as the second corrected value “

Ggrad2”

, in the case that the first corrected value “

Ggrad1”

is smaller than the second upper limit “

Gmax1”

but larger than the second lower limit “

Gmin1”

, and

wherein the second lower limit “

Gmin1”

is produced as the second corrected value “

Ggrad2”

, in the case that the first corrected value “

Ggrad1”

is smaller than the second lower limit “

Gmin1”

.