Method for determining vehicle location including road surface data

• US 9,121,715 B2
• Filed: 04/14/2005
• Issued: 09/01/2015
• Est. Priority Date: 04/14/2005
• Status: Active Grant

• Current Assignee: General Motors LLC (General Motors Company)
• Original Assignee: General Motors LLC (General Motors Company)
• Inventors: Ames, Michael B., Hay, Curtis L.
• Primary Examiner(s): Keith, Jack W
• Assistant Examiner(s): Nguyen, Chuong P
• Application Number:
  US11/106,192
• Publication Number:
  US 20060253248A1
• Time in Patent Office: 3,792 Days
• Field of Search: 701/207, 701/80, 701/400, 701/408, 701/445, 701/468, 701/469, 701/472, 701/494, 701/498, 701500-502, 701505-510, 701/73, 701/79, 701208-217, 701/5.518, 280/5.517, 280/5.518
• US Class Current: 1/1
• CPC Class Codes: B60G 2400/821 Uneven, rough road sensing affecting vehicle body vibration
• CPC Class Codes: B60G 2400/824 Travel path sensing; Track monitoring
• CPC Class Codes: G01C 21/12 executed aboard the object being navigated; Dead reckoning
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments

Abstract

A method of determining location of a vehicle includes receiving a wheel speed measurement and receiving a rough road parameter. A rough road weighting factor is determined based on the rough road parameter, and vehicle location is determined based on the determined rough road weighting factor and the wheel speed.

Claims

1. A method of determining a location of a vehicle using dead reckoning navigation based upon wheel speed sensor measurement, wherein the vehicle includes a controller, a vehicle communication network, a wheel speed sensor, and a telematics unit configured to communicate via a wireless carrier system, and wherein the determining the location using dead reckoning navigation is based upon a combination of locally generated vehicle sensor measurements and rough road parameter information received by the vehicle from a server, associated with a remote central rough road data repository, via the wireless carrier system, the method comprising:

receiving, by the controller, a wheel speed measurement provided by the wheel speed sensor via the vehicle communication network;

receiving, by the controller, a rough road parameter, wherein the rough road parameter is a geospatial location-specific value from the central rough road data repository provided to the vehicle via the wireless carrier system;

determining, by the controller based upon the rough road parameter, a rough road weighting factor indicative of a level of reliability of the wheel speed measurement; and

determining, by the controller using dead reckoning navigation, the location of the vehicle based on the wheel speed measurement and the rough road weighting factor.

2. The method of claim 1 wherein the wheel speed measurement is calculated via a filter.

3. The method of claim 1 wherein the rough road parameter is determined in response to a difference between wheel speeds of at least two wheels of the vehicle.

4. The method of claim 1 wherein the rough road weighting factor varies linearly with respect to the rough road parameter.

5. The method of claim 1 wherein the rough road weighting factor varies geometrically with respect to the rough road parameter.

6. The method of claim 1 wherein determining the location of the vehicle using dead reckoning navigation, based on the wheel speed measurement comprises:

inputting a gyroscope input and an accelerometer input into a navigational filter.

7. The method of claim 1 further comprising:

comparing for a current location of the vehicle, by the controller;

the location of the vehicle using dead reckoning navigation, and

a wireless geospatial navigation system-rendered location; and

sending, by the controller, to the central rough road data repository via the wireless carrier system, a result of the comparing,

wherein the result is provided with a model and a year of the vehicle.

8. A non-transitory computer readable medium having stored thereon computer executable instructions for determining a location of a vehicle using dead reckoning navigation based upon wheel speed sensor measurement, wherein the vehicle includes a controller, a vehicle communication network, a wheel speed sensor, and a telematics unit configured to communicate via a wireless carrier system, and wherein the determining the location using dead reckoning navigation is based upon a combination of locally generated vehicle sensor measurements and rough road parameter information received by the vehicle from a server, associated with a remote central rough road data repository, via the wireless carrier system, the instructions comprising instructions for:

receiving, by the controller, a wheel speed measurement provided by the wheel speed sensor via the vehicle communication network;

receiving, by the controller, a rough road parameter, wherein the rough road parameter is a geospatial location-specific value from the central rough road data repository provided to the vehicle via the wireless carrier system;

determining, by the controller based on the rough road parameter, a rough road weighting factor indicative of a level of reliability of the wheel speed measurement; and

determining, by the controller using dead reckoning navigation, the location of the vehicle based on the rough road weighting factor and the wheel speed measurement.

9. The medium of claim 8 wherein the instructions for determining a vehicle location comprise instructions for inputting the rough road weighting factor and the wheel speed measurement into a filter.

10. The medium of claim 8 wherein the rough road weighting factor is a number between zero and 1.

11. The medium of claim 8 wherein the rough road parameter is determined in response to a difference between wheel speeds of at least two wheels.

12. The medium of claim 8 wherein the rough road weighting factor varies linearly with respect to the rough road parameter.

13. The medium of claim 8 wherein the rough road weighting factor varies geometrically with respect to the rough road parameter.

14. The medium of claim 8 wherein the instructions for determining, based on the rough road vehicle weighting factor and the wheel speed measurement, a vehicle location comprises:

instructions for inputting, into a navigational filter, the rough road weighting factor, a gyroscope input, and an accelerometer input.

15. The medium of claim 8 wherein computer readable code for receiving a rough road parameter comprises computer readable code for receiving a rough road parameter from a call center.

16. The medium of claim 8 further comprising computer executable instructions for performing the method including:

comparing for a current location of the vehicle, by the controller;

the location of the vehicle using dead reckoning navigation, and

a wireless geospatial navigation system-rendered location; and

sending, by the controller, to the central rough road data repository via the wireless carrier system, a result of the comparing,

wherein the result is provided with a model and a year of the vehicle.

17. A system for determining a location of a vehicle using dead reckoning navigation based upon wheel speed sensor measurement, wherein the vehicle includes a controller, a vehicle communication network, and a telematics unit configured to communicate via a wireless carrier system, and wherein the determining the location using dead reckoning navigation is based upon a combination of locally generated vehicle sensor measurements and rough road parameter information received by the vehicle from a server, associated with a remote central rough road data repository, via the wireless carrier system, the system comprising:

a wheel speed sensor configured to sense the speed of an associated wheel and provide a corresponding wheel speed measurement; and

a controller, comprising a processor communicatively connected with the wheel speed sensor via the vehicle communication network and configured to;

receive, via the vehicle communication network, a wheel speed measurement;

receiving a rough road parameter, wherein the rough road parameter is a geospatial location-specific value from the central rough road data repository provided to the vehicle via the wireless carrier system;

determining, by the controller based on the rough road parameter a rough road weighting factor indicative of a level of reliability of the wheel speed measurement; and

determining, by the controller using dead reckoning navigation, the location of the vehicle based on the rough road weighting factor and the wheel speed measurement.

18. The system of claim 17 wherein determining the vehicle location based on the wheel speed measurement utilizes a filter configured to receive a gyroscope input and an accelerometer input.

19. The system of claim 17 wherein means for receiving a rough road parameter comprises means for receiving a rough road parameter from a call center.

20. The system of claim 17 wherein the controller is further configured to perform the method including:

comparing for a current location of the vehicle, by the controller;

the location of the vehicle using dead reckoning navigation, and

a wireless geospatial navigation system-rendered location; and

sending, by the controller, to the central rough road data repository via the wireless carrier system, a result of the comparing,

wherein the result is provided with a model and a year of the vehicle.