Surface vehicle vertical trajectory planning

• US 9,417,075 B2
• Filed: 11/17/2014
• Issued: 08/16/2016
• Est. Priority Date: 03/27/2000
• Status: Expired due to Fees

• Current Assignee: ClearMotion Acquisition I LLC
• Original Assignee: Bose Corporation
• Inventors: Knox, Lawrence D., Lackritz, Neal M., Parison, James A., Short, William R.
• Primary Examiner(s): Ilan, Ruth
• Assistant Examiner(s): Wilhelm, Timothy
• Application Number:
  US14/543,002
• Publication Number:
  US 20150160021A1
• Time in Patent Office: 638 Days
• US Class Current: 1/1
• CPC Class Codes: B60G 17/0165 to an external condition, e.g. rough road surface, side wind
• CPC Class Codes: B60G 17/0195 characterised by the regulation being combined with other vehicle control systems conjoint control of vehicle sub-units including control of suspension systems B60W10/22
• 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: B60G 2401/16 GPS track data
• CPC Class Codes: B60G 2500/20 Spring action or springs
• CPC Class Codes: B60G 2600/182 Active control means
• CPC Class Codes: B60G 2600/1876 Artificial intelligence
• CPC Class Codes: B60G 2600/1877 Adaptive Control
• CPC Class Codes: B60G 2600/1879 Fuzzy Logic Control
• CPC Class Codes: B60G 2600/604 low pass
• CPC Class Codes: B60G 2800/014 Pitch; Nose dive
• CPC Class Codes: B60G 2800/0192 longitudinal with regard to vehicle
• CPC Class Codes: B60G 2800/24 Steering, cornering
• CPC Class Codes: B60G 2800/912 Attitude Control; levelling control
• CPC Class Codes: B60G 2800/915 Suspension load distribution
• CPC Class Codes: G01C 21/26 specially adapted for navigation in a road network
• CPC Class Codes: G01C 21/30 Map- or contour-matching
• CPC Class Codes: G01C 7/04 involving a vehicle which moves along the profile to be traced

Abstract

An active suspension system for a vehicle including elements for developing and executing a trajectory plan responsive to the path on which the vehicle is traveling. The system may include a location system for locating the vehicle, and a system for retrieving a road profile corresponding to the vehicle location.

Claims

1. A method for improving accuracy of vehicle position determination, comprising:

determining an initial vehicle position estimate based on GPS data,

recording a sequence of sensor data from a sensor located with the vehicle, and

refining the initial vehicle position estimate by performing pattern matching with a pattern matching system that looks for the presence of a known sequence of data in the recorded sequence of sensor data

wherein the pattern matching system multiplies a sequence consisting of n numbers obtained from the known sequence of data by a corresponding sequence of n numbers obtained from the recorded sequence of sensor data, sums the results of the n multiplications, and determines when the sequences match by identifying when the sum of the n multiplications has a peak.

2. The method for improving accuracy of claim 1 wherein the sensor data is Z axis deflection data.

3. The method for improving accuracy of claim 1 further comprising using a dead reckoning system to provide additional information on vehicle speed and direction when GPS data is difficult to obtain.

4. The method for improving accuracy of claim 3 wherein the dead reckoning system counts wheel rotations of the vehicle.

5. The method for improving accuracy of claim 3 wherein the dead reckoning system tracks steering angle changes of the vehicle.

6. The method for improving accuracy of claim 1 wherein the pattern matching system performs continuous pattern matching.

7. The method for improving accuracy of claim 1 wherein the pattern matching system matches consecutive groups of n multiplications.

8. The method for improving accuracy of claim 1 wherein the known sequence of data and the recorded sequence of data are transformed into the spatial domain prior to performing the pattern matching by the pattern matching system.