Vehicle travel direction estimating device

• US 5,267,166 A
• Filed: 12/27/1991
• Issued: 11/30/1993
• Est. Priority Date: 12/27/1990
• Status: Expired due to Fees

• Current Assignee: Sumitomo Electric Industries Limited (Sumitomo Corporation)
• Original Assignee: Sumitomo Electric Industries Limited (Sumitomo Corporation)
• Inventors: Takata, Koji, Nakaura, Tohru
• Primary Examiner(s): Chin, Gary
• Application Number:
  US07/813,785
• Time in Patent Office: 704 Days
• Field of Search: 364/443, 364/449, 364/453, 364/454, 364/457, 364/426.02, 73/178 R, 340/988, 303/95, 303/103
• US Class Current: 701/207
• CPC Class Codes: B60T 2230/08 Driving in reverse
• CPC Class Codes: B60T 2250/06 Sensor zero-point adjustment; Offset compensation
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence
• CPC Class Codes: B60W 30/18036 Reversing
• CPC Class Codes: B60W 40/105 Speed
• CPC Class Codes: G01P 13/02 Indicating direction only, e.g. by weather vane

Abstract

A vehicle travel direction estimating device is provided which has a wheel speed calculating device for calculating the speed and acceleration Aw of a vehicle. In addition, a gravity-type accelerometer is provided for producing a gravitationally detected acceleration Am. When both Aw and Am increase or decrease simultaneously, it is determined that the vehicle is travelling forward, and when one of Aw and Am increases while the other decreases, it is determined that the vehicle is travelling in reverse. To detect this feature, a calculating system is provided to form differential values Daw and Dam from accelerations Aw and Am. The vehicle travel direction is estimated using the differential values Daw and Dam.

Claims

1. A vehicle travel direction estimating device for repeatedly estimating a travel direction of a vehicle, comprising:

wheel speed calculation means for measuring a rotational velocity of a wheel of said vehicle and for producing an absolute value of said rotational velocity as a wheel speed of said wheel during each repeated estimating;

estimated vehicle acceleration calculation means for calculating an estimated vehicle acceleration Aw as a function of said wheel speed;

gravity-type accelerometer for producing a gravitationally detected acceleration Am;

first differentiating means for differentiating said gravitationally detected acceleration Am and for producing a first differential value Dam;

second differentiating means for differentiating said estimated vehicle acceleration Aw and for producing a second differential value Daw;

detection means for detecting said travel direction of said vehicle based on said first and second differential values Dam and Daw; and

means for controlling a braking of said vehicle in response to said detected travel direction of said vehicle.

2. A vehicle travel direction estimating device according to claim 1, wherein said detection means detects said direction of travel to be a forward direction when signs of said first and second differential values are the same, and to be a reverse direction when said signs of said first and second differential values differ.

3. A vehicle travel direction estimating device according to claim 2, wherein said detection means comprises means for obtaining a certainty value Z, an absolute value of said value Z representing a certainty of a determination and a sign of said value Z representing said vehicle travel direction, said certainty value Z being obtained from a contour line on a map of which vertical and horizontal axes represent said first and second differential values Dam and Daw, respectively.

4. A vehicle travel direction estimating device according to claim 2, wherein said detection means comprises means for obtaining a certainty value Z, an absolute value of said value Z representing a certainty of a determination and a sign of said value Z representing said vehicle travel direction, said certainty value Z being obtained at each repeated estimation of said travel direction of said vehicle, and filtering means for producing a smoothed certainty value Zf by exponentially filtering said value Z.

5. A vehicle travel direction estimating device according to claim 1, further comprising:

means for producing an adjustment speed kf assuming a forward direction of travel and for producing an adjustment speed kb assuming a reverse direction of travel;

means for producing, assuming a forward direction of travel, a corrected acceleration Acf based on said gravity-type accelerometer by correcting said gravitationally detected acceleration Am by a correction amount Aof;

means for producing, assuming a forward direction of travel, said correction amount Aof in a current estimation of said travel direction of said vehicle in which a previously produced correction amount Aof obtained in a previous estimation of said travel direction of said vehicle is adjusted as a function of a value which is a difference between said corrected acceleration Acf and said estimated vehicle acceleration Aw modified by said adjustment speed kf;

means for producing, assuming a reverse direction of travel, a corrected acceleration Acb based on said gravity-type accelerometer by correcting said gravitationally detected acceleration Am by a correction amount Aob;

means for producing, assuming a reverse direction of travel, said correction amount Aob in said current estimation of said vehicle travel direction in which a previously produced correction amount Aob obtained in said previous estimation of said vehicle travel direction is adjusted as a function of a value which is a difference between said corrected acceleration Acb and said estimated vehicle acceleration Aw modified by said adjustment speed kb; and

means for selecting one of said corrected accelerations Acf and Acb according to said vehicle travel direction detected by said detection means.

6. A vehicle travel direction estimating device according to claim 1, further comprising:

means for producing an adjustment speed k assuming a direction of travel detected by said detection means;

means for producing, assuming a forward direction of travel when a forward direction is detected by said detection means, a correcting acceleration Ac based on said gravity-type accelerometer by correcting said gravitationally detected acceleration Am by a correction amount Ao;

means for producing, assuming a forward direction of travel when a forward direction is detected by said detection means, said correction amount Ao in a current estimation of said vehicle travel direction in which said correction amount Ao obtained in a previous estimation of said vehicle travel direction is adjusted as a function of a value which is a difference between said corrected acceleration Ac and said estimated vehicle acceleration Aw modified by said adjustment speed k;

means for producing, assuming a reverse direction of travel when a reverse direction is detected by said detection means, a corrected acceleration Ac based on said gravity-type accelerometer by correcting said gravitationally detected acceleration Am by a correction amount Ao; and

means for producing, assuming a reverse direction of travel when a reverse direction is detected by said detection means, said correction amount Ao in the current estimation of said vehicle travel direction in which said correction amount Ao obtained in said previous estimation of said vehicle travel direction is adjusted as a function of a value which is a difference between said corrected acceleration Ac and said estimated vehicle acceleration Aw modified by said adjustment speed k.

7. A vehicle travel direction estimating device for repeatedly estimating a travel direction of a vehicle, comprising:

wheel speed calculation means for measuring a rotational velocity of a wheel of said vehicle and for producing an absolute value of said rotational velocity as a wheel speed of said wheel during each repeated estimation of said vehicle travel direction;

estimated vehicle acceleration calculation means for calculating an estimated vehicle acceleration Aw as a function of said wheel speed;

gravity-type accelerometer for producing a gravitationally detected acceleration Am;

first differentiating means for differentiating said gravitationally detected acceleration Am and for producing a first differential value Dam;

second differentiating means for differentiating said estimated vehicle acceleration Aw and for producing a second differential value Daw; and

detection means for detecting said travel direction of said vehicle based on said first and second differential values Dam and Daw, said detection means further comprising;

means for fixing said detected vehicle travel direction until said vehicle stops moving, when a level of certainty of detection reaches a predetermined level; and

means for clearing said fixed detected vehicle travel direction when said vehicle restarts moving after being stopped and for resuming said detection from a cleared state.

8. A system having an apparatus for estimating a travel direction of a vehicle having a plurality of wheels, said apparatus comprising:

means for determining an estimated acceleration signal representative of an acceleration of said vehicle as a function of a rotational speed of at least one wheel of said vehicle;

means for producing an independent acceleration signal which is representative of said acceleration of said vehicle, and for determining said independent acceleration signal independently of the speeds of said plurality of wheels of said vehicle;

first means for differentiating said independent acceleration signal and for producing a first differential value;

second means for differentiating said estimated acceleration signal and for producing a second differential value;

detection means for detecting said vehicle travel direction base on said first and second differential values; and

means for controlling a braking of said vehicle in response to said detected vehicle travel direction.

9. The system according to claim 8, said determining means comprising:

means for measuring a speed of said vehicle as a function of said rotational speed of said at least one wheel of said vehicle; and

means for estimating said acceleration of said vehicle as a function of said measured speed and for producing said estimated acceleration signal.

10. The system according to claim 8, said detection means comprising means for determining that said vehicle is traveling in a forward direction when polarities of said first and second differential values are the same, and that said vehicle is traveling in a reverse direction when said polarities of said first and second differential values are different.

11. The system according to claim 10, said apparatus further comprising means for estimating a certainty of the determination made by the determining means as a function of the magnitudes of the respective first and second differential values.

12. The system according to claim 11, said apparatus further comprising means for assigning a numerical value representative of both the determined direction of travel and the estimated certainty of the determination made by the determining means.

13. The system according to claim 12, wherein said numerical value comprises a real number, the polarity of the real number representing the determined direction of travel and the magnitude of the real number representing the estimated certainty of the determination made by the determining means.

14. The system according to claim 13, wherein said real number comprises an integer value.

15. The system according to claim 13, said apparatus further comprising means for smoothing the estimated certainty value.

16. The system according to claim 15, wherein said smoothing means comprises means for exponentially filtering the estimated certainty value.

17. The system according to claim 11, said apparatus further comprising means for adjusting a zero point of said independent acceleration signal producing means as a function of the determined travel direction of the vehicle.

18. The system according to claim 13, said apparatus further comprising:

means for producing a fixed indication of said direction of travel of said vehicle when the level of certainty of the detection reaches a predetermined level; and

means for clearing said indication when the vehicle stops.

19. The system according to claim 8, wherein said independent acceleration signal producing means comprises a gravity-type accelerometer and said independent acceleration signal comprises a gravitationally detected acceleration signal.

20. The system according to claim 9, wherein said speed measuring means comprises a plurality of wheel speed sensors for producing signals corresponding to respective wheels of the vehicle.

21. A system having an apparatus for estimating a travel direction of a vehicle having a plurality of wheels, said apparatus comprising:

means for determining an estimated acceleration signal representative of an acceleration of said vehicle as a function of a rotational speed of at least one wheel of said vehicle, said determining means comprising;

means for measuring the speed of the vehicle as a function of the rotational speed of said at least one wheel of said vehicle; and

means for estimating the acceleration of the vehicle as a function of the measured speed and for producing said estimated acceleration signal;

means for producing an independent acceleration signal which is representative of said acceleration of said vehicle, and for determining said independent acceleration signal independently of the speeds of said plurality of wheels of said vehicle;

first means for differentiating said independent acceleration signal and for producing a first differential value;

second means for differentiating said estimated acceleration signal and for producing a second differential value;

detection means for detecting said vehicle travel direction based on said first and second differential values, wherein an antilock brake control device utilizes said travel direction estimating apparatus to operate a plurality of brake actuating devices to control an amount of braking pressure to a wheel of said vehicle.

22. A process having a method for estimating a travel direction of a vehicle which having a plurality of wheels, the method comprising:

determining an estimated acceleration signal representative of an acceleration of the vehicle as a function of a rotational speed of at least one wheel of the vehicle;

producing an independent acceleration signal which is representative of the acceleration of the vehicle, by determining the independent acceleration signal independently of the speed of the at least one wheel of the vehicle;

differentiating the independent acceleration signal and producing a first differential value;

differentiating the estimated acceleration signal and producing a second differential value;

detecting the direction of vehicle travel based on the first and second differential values; and

controlling a braking of the vehicle in response to the detected vehicle direction.

23. The process according to claim 22, said step of determining comprising:

measuring a speed of the vehicle as a function of the rotational speed of the at least one wheel of the vehicle; and

estimating the acceleration of the vehicle as a function of the measured speed and producing the estimated acceleration signal.

24. The process according to claim 22, said detecting step comprising determining that the vehicle is traveling in a forward direction when the polarities of the first and second differential values are the same, and that the vehicle is traveling in a reverse direction when the polarities of the first and second differential values are different.

25. The process according to claim 24, said method further comprising estimating the certainty of the determination made in the determining step as a function of the magnitudes of the respective first and second differential values.

26. The process according to claim 25, said method further comprising assigning a numerical value representative of both the determined direction of travel and the estimated certainty of the determination made by the determining step.

27. The process according to claim 26, wherein said numerical value comprises a real number, the polarity of the real number representing the determined direction of travel and the magnitude of the real number representing the estimated certainty of the determination made by the determining step.

28. The process according to claim 27, wherein said real number comprises an integer value.

29. The process according to claim 27, said method further comprising smoothing the estimated certainty value.

30. The process according to claim 29, wherein said smoothing step comprises exponentially filtering the estimated certainty value.

31. The process according to claim 25, said method further comprising adjusting a zero point of an independent acceleration signal production device as a function of the determined travel direction of the vehicle.

32. The process according to claim 27, said method further comprising:

producing a fixed indication of said direction of travel of said vehicle when the level of certainty of the detection step reaches a predetermined level; and

clearing said indication when the vehicle stops.

33. The process according to claim 22, wherein said independent acceleration signal producing step comprises producing a gravitationally detected acceleration signal with a gravity-type accelerometer.

34. The process according to claim 23, wherein said speed measuring step comprises producing a plurality of signals with a plurality of wheel speed sensors, said signals corresponding to respective wheels of the vehicle.

35. A method for estimating a travel direction of a vehicle having a plurality of wheels, said method comprising:

determining an estimated acceleration signal representative of an acceleration of the vehicle as a function of a rotational speed of at least one wheel of the vehicle, the determining step comprising;

measuring a speed of the vehicle as a function of the rotational speed of the at least one wheel of the vehicle; and

estimating the acceleration of the vehicle as a function of the measured speed and producing the estimated acceleration signal;

producing an independent acceleration signal which is representative of the acceleration of the vehicle, by determining the independent acceleration signal independently of the speed of the at least one wheel of the vehicle;

differentiating the independent acceleration signal and producing a first differential value;

differentiating the estimated acceleration signal and producing a second differential value;

detecting the direction of vehicle travel based on the first and second differential values; and

controlling an amount of brake pressure to each wheel of the vehicle in accordance with the estimated acceleration of the vehicle to perform an antilock brake control on the vehicle.