SYSTEM FOR ESTIMATING ROAD SLOPE
First Claim
1. A system for estimating a road slope, comprising:
- a signal processor receiving raw signal signals including information on acceleration and rotation velocity transmitted from a 6 degrees of freedom (6DOF) inertial sensor, and performing filtering thereon;
a vehicle motion estimator calculating overall angles including weighted gain values of a roll angle and weighted gain values of a pitch angle of a vehicle based on the raw signals from the 6DOF inertial sensor filtered by the signal processor and on vehicle measurement information transmitted from a vehicle sensor different from the 6DOF inertial sensor;
a vehicle suspension angle estimator calculating a vehicle suspension angle based on the signal from the 6DOF inertial sensor and the vehicle measurement information; and
a road slope estimator determining a difference between the overall angles of the vehicle and the vehicle suspension angle so as to calculate the road slope.
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Abstract
A system for estimating a road slope, includes a signal processor receiving a raw signal including information on acceleration and rotation velocity transmitted from a 6 degrees of freedom (6DOF) inertial sensor, a vehicle motion estimator calculating overall angles of a vehicle based on the signals from the 6DOF inertial sensor filtered by the signal processor and on vehicle measurement information transmitted from a vehicle sensor. The system further includes a vehicle suspension angle estimator calculating a vehicle suspension angle based on the signal from the 6DOF inertial sensor and the vehicle measurement information and a road slope estimator determining a difference between the overall angles of the vehicle and the vehicle suspension angle so as to calculate a road slope.
24 Citations
9 Claims
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1. A system for estimating a road slope, comprising:
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a signal processor receiving raw signal signals including information on acceleration and rotation velocity transmitted from a 6 degrees of freedom (6DOF) inertial sensor, and performing filtering thereon; a vehicle motion estimator calculating overall angles including weighted gain values of a roll angle and weighted gain values of a pitch angle of a vehicle based on the raw signals from the 6DOF inertial sensor filtered by the signal processor and on vehicle measurement information transmitted from a vehicle sensor different from the 6DOF inertial sensor; a vehicle suspension angle estimator calculating a vehicle suspension angle based on the signal from the 6DOF inertial sensor and the vehicle measurement information; and a road slope estimator determining a difference between the overall angles of the vehicle and the vehicle suspension angle so as to calculate the road slope. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9-10. -10. (canceled)
Specification