Method and system for vehicle trajectory estimation

• US 6,675,074 B2
• Filed: 08/21/2001
• Issued: 01/06/2004
• Est. Priority Date: 08/21/2001
• Status: Expired due to Term

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Hathout, Jean-Pierre, Klausner, Markus
• Primary Examiner(s): NGUYEN, TAN QUANG
• Application Number:
  US09/934,423
• Publication Number:
  US 20030040849A1
• Time in Patent Office: 868 Days
• Field of Search: 701/1, 701/71, 701/75, 701/82, 701/89, 701/207, 342/357.14
• US Class Current: 701/1
• CPC Class Codes: B60K 28/165 acting on elements of the vehicle drive train other than the propulsion unit and brakes, e.g. transmission, clutch, differential acting on brakes B60T8/17
• CPC Class Codes: B60T 2250/06 Sensor zero-point adjustment; Offset compensation
• CPC Class Codes: B60T 2250/062 loosing zero-point calibration of yaw rate sensors when travelling on banked roads or in case of temperature variations
• CPC Class Codes: B60T 8/17551 determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
• CPC Class Codes: B60W 2050/002 Integrating means
• CPC Class Codes: B60W 2050/0215 Sensor drifts or sensor failures
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2520/20 Sideslip angle
• CPC Class Codes: B60W 2552/15 Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 50/0097 Predicting future conditions
• CPC Class Codes: B60W 60/0016 of the vehicle or its occupants

Abstract

In a method and system for estimating a trajectory of a vehicle having an Electronic Stability Program (ESP), sensor data pertaining to dynamics of the vehicle is obtained, and an estimate of the trajectory of the vehicle is calculated using the sensor data and vehicle dynamics parameters estimated by the ESP. The acquisition of the sensor data and the calculation of vehicle trajectory estimates occur independently of any external signal communication infrastructure-based trajectory estimation tools.

Claims

1. A method of estimating a trajectory of a vehicle having an Electronic Stability Program (ESP), the method comprising the steps of:

obtaining sensor data pertaining to dynamics of the vehicle;

compensating for sensor drift using drift estimates calculated by the ESP; and

calculating an estimate of the trajectory of the vehicle using the sensor data as compensated for sensor drift, and vehicle dynamics parameters estimated by the ESP;

wherein the steps of obtaining sensor data and calculating the estimate of the trajectory of the vehicle are performed independently of any external signal communication infrastructure-based trajectory estimation tools.

2. The method according to claim 1, further comprising the step of:

compensating for sensor bias due to sloped driving conditions by incorporating ESP estimates for a slope angle.

3. The method of claim 2, wherein the sensor data includes yaw rate data and lateral acceleration data.

4. The method of claim 3, wherein the vehicle dynamics parameters estimated by the ESP include at least one of a longitudinal acceleration, a yaw acceleration and a longitudinal velocity.

5. The method of claim 4, further comprising the step of:

transforming the sensor data and the vehicle dynamics parameters to correspond to an inertial reference frame using vehicle-specific parameters.

6. The method of claim 5, further comprising the step of:

numerically integrating lateral acceleration data and longitudinal acceleration parameters over time, the integration yielding position values along stationary x and y axes.

7. The method of claim 6, wherein sensor data is obtained according to a sampling rate at a plurality of instants of time beginning at a starting point and ending at an end point after a duration of time T has elapsed after the starting point, the starting point being associated with a first starting position and the end point associated with a first ending position, the position values of the vehicle being calculated at each of the plurality of instants of time in relation to the first starting position, and a vehicle trajectory being assembled for the duration T from the position values associated with each of the plurality of instants of time.

8. The method of claim 7, further comprising the step of:

when the duration T has elapsed, resetting the first ending position as a second beginning position for obtaining sensor data over another duration of time T.

9. The method of claim 5, further comprising the steps of:

compensating the yaw rate data for drift; and

determining a vehicle heading by numerically integrating the yaw rate data over time.

10. The method of claim 3, wherein the vehicle dynamics parameters estimated by the ESP further include at least one of a body slip-angle, yaw sensor drift and slope offset.

11. The method of claim 1, further comprising the steps of:

estimating the position of the vehicle at each of the plurality of instants in time using the sensor data and the vehicle dynamics parameters;

recording the position for each of the plurality of instants in time; and

assembling a trajectory of the vehicle from each of the recorded positions.

12. The method of claim 1, further comprising the step of:

using the estimate of the trajectory of the vehicle in at least one of vehicle accident reconstruction, testing of vehicle maneuverability, and stand-alone vehicle tracking.

13. A method of estimating a trajectory of a vehicle having an Electronic Stability Program (ESP), the method comprising the steps of:

obtaining sensor data pertaining to dynamics of the vehicle;

calculating an estimate of the trajectory of the vehicle using the sensor data and vehicle dynamics parameters estimated by the ESP;

obtaining sensor data at a plurality of instants of time;

recording the sensor data;

when the vehicle is one of online and offline, inputting the recorded sensor data into an ESP;

estimating the position of the vehicle at each of the plurality of instants in time using the sensor data and the vehicle dynamics parameters;

recording the position for each of the plurality of instants in time; and

assembling a trajectory of the vehicle from each of the recorded positions;

wherein the steps of obtaining sensor data and calculating the estimate of the trajectory of the vehicle are performed independently of any external signal communication infrastructure-based trajectory estimation tools.

14. The method of claim 13, wherein the ESP is configured in a device located externally from the vehicle.

15. A method of estimating a trajectory of a vehicle having an Electronic Stability Program (ESP), the method comprising the steps of:

a) obtaining a yaw rate and a lateral acceleration of the vehicle at an instant in time using sensors;

b) deriving further parameters pertaining to dynamics of the vehicle using the ESP;

c) compensating for sensor drift using drift estimates calculated by the ESP;

d) calculating an estimate of the instantaneous position of the vehicle relative to a stationary coordinate system using the yaw rate, the lateral acceleration and the further parameters as compensated for sensor drift;

e) repeating steps a) to d) over time; and

f) assembling an estimation of the trajectory of the vehicle from a series of vehicle positions.

16. The method of claim 15, further comprising the steps of:

g) calculating a slope angle using the ESP; and

h) correcting for sensor bias due to sloped driving conditions using the slope angle.

17. The method of claim 15, wherein the further parameters include at least one of a longitudinal acceleration, a body slip-angle, a wheel coefficient of friction, a wheel slip, a yaw acceleration, a longitudinal velocity and a lateral velocity.

18. A method of estimating a trajectory of a vehicle having an Electronic Stability Program (ESP), the method comprising the steps of:

obtaining sensor data pertaining to dynamics of the vehicle;

calculating an estimate of the trajectory of the vehicle using the sensor data and vehicle dynamics parameters estimated by the ESP;

using the estimate of the trajectory of the vehicle in a pre-defined trajectory tracking in an autonomous vehicle; and

calculating vehicle dynamics parameters required to control the autonomous vehicle to follow the pre-defined trajectory using an inverse of equations used to estimate the trajectory;

wherein the steps of obtaining sensor data and calculating the estimate of the trajectory of the vehicle are performed independently of any external signal communication infrastructure-based trajectory estimation tools.

19. A system for estimating a trajectory of a vehicle having an Electronic Stability Program (ESP), comprising:

an electronic control unit including a RAM unit and a ROM unit, the ROM unit storing the ESP;

a data bus coupled to the electronic control unit;

a yaw rate sensor coupled to the data bus for detecting yaw rate data, the yaw rate sensor communicating the yaw rate data to the electronic control unit via the data bus; and

a lateral acceleration sensor coupled to the data bus for detecting lateral acceleration data, the lateral acceleration sensor communicating the lateral acceleration data to the electronic control unit via the data bus;

wherein the electronic control unit executes the ESP and calculates vehicle dynamics parameters and computes an estimate of the trajectory of the vehicle using the yaw rate data, the lateral acceleration data and the vehicle dynamics parameters; and

wherein the electronic control unit compensates for errors caused by sensor drift.

20. The system of claim 19, wherein the electronic control unit compensates for errors caused by sensor drift and sensor bias by incorporating ESP estimates for a slope angle.

21. The system of claim 20, further comprising:

at least one non-volatile memory unit coupled to the electronic control unit via the data bus;

wherein the electronic control unit estimates a position of the vehicle at each of a plurality of instants in time using the yaw rate data, the lateral acceleration data and the vehicle dynamics parameters and communicates the position at each of the plurality of instants in time to the at least one non-volatile memory unit, the at least one non-volatile memory unit records each position, and the trajectory of the vehicle is assembled from each of the recorded positions.

22. The system of claim 20, further comprising:

at least one non-volatile memory unit coupled to the electronic control unit via the data bus;

wherein the yaw rate sensor obtains yaw rate data at a plurality of instants of time, the lateral acceleration sensor obtains lateral acceleration data at the plurality of instants of time, and the at least one non-volatile memory unit records the yaw rate data and the lateral acceleration data; and

wherein when the vehicle is one of online and offline, the data stored in the at least one non-volatile memory unit is transferred to a processor configured to execute an ESP.

23. The system of claim 20, further comprising:

a remote communication unit coupled to the data bus, the remote communication unit transmitting vehicle position data to a remote location.

24. The system of claim 20, wherein the electronic control unit estimates a longitudinal acceleration of the vehicle at a plurality of instants in time using the ESP and estimates the trajectory of the vehicle by numerically integrating lateral acceleration data and the longitudinal acceleration parameters over time, the integration yielding position values along stationary x and y axes.