Method and apparatus for eliminating noise in a slope estimation arrangement for a motor vehicle

• US 5,925,087 A
• Filed: 08/27/1993
• Issued: 07/20/1999
• Est. Priority Date: 08/27/1992
• Status: Expired due to Fees

• Current Assignee: Hitachi, Ltd.
• Original Assignee: Hitachi, Ltd.
• Inventors: Ohnishi, Hiroshi, Minowa, Toshimichi, Katayama, Hiroshi, Ishii, Junichi, Kayano, Mitsuo, Horiuchi, Michimasa
• Primary Examiner(s): Teska, Kevin J.
• Assistant Examiner(s): FREJD, RUSSELL WARREN
• Application Number:
  US08/112,373
• Time in Patent Office: 2,153 Days
• Field of Search: 364/184, 364/424.098, 364/424.034, 364/424.036, 364/426.021, 364/426.038, 364/426.045, 364/574, 371/31, 701/70
• US Class Current: 701/70
• CPC Class Codes: B60W 2050/0031 Mathematical model of the vehicle
• CPC Class Codes: B60W 2050/0052 Filtering, filters
• CPC Class Codes: B60W 2510/105 Output torque
• CPC Class Codes: B60W 2540/12 Brake pedal position
• CPC Class Codes: B60W 2552/15 Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 40/076 Slope angle of the road
• CPC Class Codes: F16H 2059/142 of driving resistance calculated from weight, slope, or the like
• CPC Class Codes: F16H 2059/385 Turbine speed
• CPC Class Codes: F16H 2059/467 of torque converter
• CPC Class Codes: F16H 2059/663 Road slope
• CPC Class Codes: F16H 59/24 dependent on the throttle opening
• CPC Class Codes: F16H 59/44 dependent on machine speed of the machine, e.g. the vehicle
• CPC Class Codes: F16H 59/48 Inputs being a function of acceleration
• CPC Class Codes: F16H 59/50 Inputs being a function of the status of the machine, e.g. position of doors or safety belts
• CPC Class Codes: F16H 59/54 dependent on signals from the brakes, e.g. parking brakes
• CPC Class Codes: F16H 59/66 Road conditions, e.g. slope, slippery
• CPC Class Codes: F16H 61/0213 characterised by the method for generating shift signals
• CPC Class Codes: G01C 9/08 Means for compensating acceleration forces due to movement of instrument

Abstract

A method and apparatus to estimate slopes accurately, as well as to eliminate slope estimation errors, taking error generating conditions into account. The slope on which the vehicle is running is estimated from the vehicle speed and the engine rpm value. The result is entered to the slope estimation unit through a low pass filter, then to the navigation unit. A noise eliminator is provided to the output of the slope estimation unit so that noises can be eliminated, for example, during gear-shifting or for a certain time after the gear shifting is completed by obtaining the "gear shifting" information from the automatic transmission control. The preceding estimated slope value is held during the noise elimination period.

Claims

1. A process for generating an operating signal indicative of a slope of a surface on which a vehicle is supported, based on sensed operating parameters of said vehicle, a method of eliminating errors in said operating signal caused by noise, said process comprising:

sensing at least one operating parameter of said vehicle which is indicative of slope of said surface, and generating output signals indicative thereof;

processing said output signals in a data processor and generating said operating signal in response thereto;

detecting occurrence of at least one predetermined condition which causes noise in said operating signal, and generating a noise suppression signal in response thereto; and

during existence of said noise suppression signal, maintaining said operating signal at a value thereof immediately prior to the generation of said noise suppression, until said noise suppression signal terminates.

2. Method according to claim 1 wherein said at least one predetermined condition comprises at least one of gear shifting in an automatic transmission, change of throttle valve opening, operation of brakes, low vehicle speed, vehicle acceleration, rough road and slippery road surface.

3. In a process for estimating slope of a surface on which a vehicle is supported, the steps of:

sensing at least one operating parameter of said vehicle and generating first signals indicative thereof;

processing said first signals in a data processor to provide an estimated slope value;

detecting occurrence of at least one predetermined operating condition which causes errors in said estimated slope value;

generating a noise elimination signal in response to detection of said predetermined operating condition;

suppressing changes of said estimated slope value during generation of said noise elimination signal.

4. Method according to claim 3, wherein said at least one predetermined operating condition comprises a plurality of operating conditions, and wherein said suppressing step is performed whenever a noise elimination signal is generated in response to at least one of said plurality of operating conditions.

5. A process for generating an operating signal indicative of a slope of a surface on which a vehicle is supported, based on sensed operating parameters of said vehicle, a method of eliminating noise in said operating signal, said process comprising:

sensing a plurality of said operating parameters and generating respective output signals indicative of said operating parameters;

based on said output signals, detecting occurrence of at least one predetermined condition indicative of an occurrence of noise in said operating signal, said predetermined condition being selected form the group consisting of gear shifting in an automatic transmission, change of throttle valve opening, operation of brakes, low vehicle speed, rough road and slippery road surface;

generating a noise suppression signal in response to detection of said predetermined condition; and

maintaining said operating signal at a value thereof immediately prior to said noise suppression signal until said noise suppression signal terminates.

6. In a device for generating an operating signal indicative of a slope of a surface on which a vehicle is supported, based on sensed operating parameters of said vehicle, apparatus eliminating noise in said operating signal, said apparatus comprising:

at least one sensor for sensing operating parameters of said vehicle and generating output signals indicative thereof; and

a digital computer system having a computer readable memory encoded with a program which includes code for

processing said output signals to detect occurrence of at least one predetermined condition which causes noise in said operating signal, said predetermined condition being selected from the group consisting of gear shifting in an automatic transmission, change of throttle valve opening, operation of brakes, low vehicle speed, rough road and slippery road surface;

generating a noise suppression signal in response to detection of said predetermined condition; and

maintaining said operating signal at a value thereof immediately prior to the generation of said noise suppression signal, until said noise suppression signal terminates.