METHOD AND SYSTEM OF ANGLE ESTIMATION
First Claim
1. A method of angle estimation for use in a vehicle which is travelling on a surface, the vehicle comprising a vehicle body which is attached to at least two wheels, the vehicle body having a first axis, the method comprising:
- calculating θ
glob1 as a first estimate of the angle θ
glob between the first axis and a horizontal plane;
producing θ
globtransient, an estimate of transient values of θ
glob, by applying a high pass filter to θ
glob1;
calculating θ
globsteady state as an estimate of steady state values of θ
glob; and
calculating a further estimate of θ
glob from θ
globtransient and θ
globsteady state.
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Accused Products
Abstract
A method of angle estimation for use in a vehicle which is travelling on a surface. The vehicle includes a vehicle body having a first axis and being attached to at least two wheels. The method includes the steps of: providing a first height sensor for measuring h1, the height of the vehicle body with respect to the first wheel; providing a second height sensor for measuring h2, the height of the vehicle body with respect to the second wheel; providing a surface angle sensor for measuring θroad, the angle of the surface in relation to a horizontal plane; measuring the values of h1, h2 and θroad; using the values of h1 and h2 to calculate θrel, the angle of the vehicle body relative to the surface; and calculating an estimate of θglob, the angle between the first axis and the horizontal plane, from θroad and θrel.
8 Citations
17 Claims
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1. A method of angle estimation for use in a vehicle which is travelling on a surface, the vehicle comprising a vehicle body which is attached to at least two wheels, the vehicle body having a first axis, the method comprising:
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calculating θ
glob1 as a first estimate of the angle θ
glob between the first axis and a horizontal plane;producing θ
globtransient, an estimate of transient values of θ
glob, by applying a high pass filter to θ
glob1;calculating θ
globsteady state as an estimate of steady state values of θ
glob; andcalculating a further estimate of θ
glob from θ
globtransient and θ
globsteady state. - View Dependent Claims (2, 3)
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4. A method of angle estimation for use in a vehicle which is travelling on a surface, the vehicle comprising a vehicle body which is attached to at least two wheels, the vehicle body having a first axis, the method comprising:
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providing a first height sensor for measuring h1, the height of the vehicle body with respect to the first wheel; providing a second height sensor for measuring h2, the height of the vehicle body with respect to the second wheel; providing a surface angle sensor for measuring θ
road, the angle of the surface in relation to a horizontal plane;measuring the values of h1, h2 and θ
road;calculating the angle θ
rel of the first axis relative to the surface using the values of h1 and h2; andcalculating an estimate of θ
glob, the angle between the first axis and the horizontal plane, from θ
road and θ
rel. - View Dependent Claims (5, 6, 7, 8)
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9. An angle estimation system for use in a vehicle which is travelling on a surface, the vehicle comprising a vehicle body which is attached to at least two wheels, the vehicle body having a first axis, the angle estimation system comprising a control unit, the control unit being arranged to:
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calculate θ
glob1 as a first estimate of the angle θ
glob between the first axis and a horizontal plane;apply a high pass filter to θ
glob1 to produce θ
globtransient, an estimate of transient values of θ
glob;calculate θ
globsteady state, an estimate of steady state values of θ
glob; andcalculate a further estimate of θ
glob from θ
globtransient and θ
globsteady state. - View Dependent Claims (10, 11, 12)
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13. An angle estimation system for use in a vehicle which is travelling on a surface, the vehicle comprising a vehicle body which is attached to at least two wheels, the vehicle body having a first axis, the angle estimation system comprising:
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a first height sensor for measuring h1, the height of the vehicle body with respect to the first wheel; a second height sensor for measuring h2, the height of the vehicle body with respect to the second wheel; a surface angle sensor for measuring θ
road, the angle of the surface in relation to a horizontal plane; anda control unit, the control unit being arranged to; receive signals from the sensors indicating the values of h1, h2 and θ
road;use the values of h1 and h2 to calculate θ
rel, the angle of the first axis relative to the surface; andcalculate an estimate of θ
glob, the angle between the first axis and the horizontal plane, from θ
road and θ
rel. - View Dependent Claims (14, 15, 16, 17)
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Specification