DEVICE AND METHOD FOR DETERMINING THE DRIVING STATE OF A VEHICLE
First Claim
1. A method for determining a driving state of a vehicle in three-dimensional space, whereby the method is comprised of the steps:
- sensing over a specific time period, first signals that are based on first sensor signals that correspond to a three-dimensional acceleration of the vehicle;
sensing over the specific time period, second signals that are based on second sensor signals that correspond to three-dimensional angular rates of the vehicle;
calculating driving state variables of at least one of three-dimensional velocity and three-dimensional orientation of the vehicle by integrating over the specific time period, the first signals and the second signals according to a system of equations of motion for the corresponding driving state variables;
sensing one or more third signals that are based on one or more additional third sensor signals, from which one or more components of the calculated driving state variables can be determined; and
correcting at least one of the first and second signals of the specific time period and the calculated driving state variables so that the calculated driving state variables correspond as exactly as possible to the driving state variables determined from the third signals.
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Abstract
A method for determining the driving state of a vehicle in three-dimensional space comprising the steps: sensing of first signals over a specific time period, these signals being based on the first sensor signals which correspond to the three-dimensional acceleration of the vehicle; sensing of seconds signals over the specific time period, these signals being based on the second sensor signals which correspond to the three-dimensional angular rates of the vehicle; calculating the driving state variables of the three-dimensional velocity and/or three-dimensional orientation of the vehicle by integrating the first signals and or the second signals over the specific time period according to the system of equations of motion for the corresponding driving state variables; sensing of one or more third signals which are based on one or more additional third sensor signals with which one or more components of the calculated driving state variables can be determined; and correcting the first and second signals of the specific time period or the calculated driving state variables in such a way that the calculated driving state variables correspond as precisely as possible to the driving state variables determined from the third signals.
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Citations
20 Claims
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1. A method for determining a driving state of a vehicle in three-dimensional space, whereby the method is comprised of the steps:
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sensing over a specific time period, first signals that are based on first sensor signals that correspond to a three-dimensional acceleration of the vehicle; sensing over the specific time period, second signals that are based on second sensor signals that correspond to three-dimensional angular rates of the vehicle; calculating driving state variables of at least one of three-dimensional velocity and three-dimensional orientation of the vehicle by integrating over the specific time period, the first signals and the second signals according to a system of equations of motion for the corresponding driving state variables; sensing one or more third signals that are based on one or more additional third sensor signals, from which one or more components of the calculated driving state variables can be determined; and correcting at least one of the first and second signals of the specific time period and the calculated driving state variables so that the calculated driving state variables correspond as exactly as possible to the driving state variables determined from the third signals. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A device for determining a driving state of a vehicle in three-dimensional space, comprising:
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an inertial sensor system configured to issue acceleration signals that correspond to an acceleration of the vehicle in three-dimensional space, and to issue angular rate signals that correspond to angular rates of the vehicle in three-dimensional space; means for calculating driving state variables of at least one of a three-dimensional velocity and a three-dimensional orientation of the vehicle by integrating, over a specific time period, the acceleration signals and the angular rate signals according to a system of equations of motion for the corresponding driving state variables; means for issuing one or more additional sensor signals from which one or more components of the calculated driving state variables can be determined; and correction means for correcting at least one of the acceleration signals and the angular rate signals of the specific time period and the calculated driving state variables such that the calculated driving state variables correspond as closely as possible to the driving state variables determined from the one or more additional sensor signals. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification