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US 10,703,359 B2Granted
Controlling vehicle orientation
AssigneeFord Global Technologies, LLC
InventorsScott Varnhagen, Schuyler Cohen, Johannes Strom, Ghassan Atmeh, Alice Kassar
Life of this patent
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Abstract
A computer is programmed to predict, based at least in part on a stored road topology for a predetermined vehicle route, a vehicle body orientation based on lateral, longitudinal, and vertical accelerations predicted for the route. The computer is programmed to, based on the predicted vehicle body orientation, adjust at least one of an orientation of the vehicle body and an orientation of an object in the vehicle as the vehicle traverses the route.
Claims14
A computer, programmed to:
- predict a vehicle body orientation based on (i) lateral, longitudinal, and vertical accelerations predicted for a predetermined route, (ii) a current vehicle body orientation, wherein an orientation includes a roll, a pitch and a yaw;
- and (iii) a stored road topology for the predetermined vehicle route;
- predict a future actuation of a vehicle brake or steering based on the predetermined vehicle route;
- predict a future lateral, longitudinal, and vertical acceleration based on the predicted future actuation of the vehicle;
- determine a rate of change of the vehicle body orientation including a speed of change of vehicle body pitch based on the predicted future lateral, longitudinal, and vertical acceleration using a state-space model of the vehicle;
- adjust the predicted vehicle body orientation based at least in part on the determined rate of change of the vehicle body orientation;
- based on the adjusted predicted vehicle body orientation, adjust an orientation of the vehicle body as the vehicle traverses the route;
- based on the adjusted predicted vehicle body orientation and an identified current orientation of an object in the vehicle, predict a change of orientation of the object;
- and
- based on the predicted change of orientation of the object, adjust the orientation of the object.
7 more elements
A computer, programmed to:
- predict a vehicle body orientation based on lateral, longitudinal, and vertical accelerations predicted for the route by:
- receiving a state-space model of the vehicle body, the model including a set of inputs, outputs, and state variables describing a vehicle body orientation;
- identifying a current vehicle body orientation based on vehicle sensor data;
- predicting the lateral, longitudinal, and vertical accelerations based on a stored road topology for a predetermined vehicle route;
- estimating a change of the current vehicle body orientation based at least in part on the received state-space model, the identified current vehicle body orientation, and the predicted lateral, longitudinal and vertical accelerations;
- predict a future actuation of a vehicle brake or steering based on the predetermined vehicle route;
- predict a future lateral, longitudinal, and vertical acceleration based on the predicted future actuation of the vehicle including braking;
- determine a rate of change of the vehicle body orientation including a speed of change of vehicle body pitch based on the predicted future lateral, longitudinal, and vertical acceleration using the state-space model of the vehicle;
- adjust the predicted vehicle body orientation based at least in part on the determined rate of change of the vehicle body orientation
- based on the adjusted predicted vehicle body orientation, adjust at least one of an orientation of the vehicle body and an orientation of an object in the vehicle as the vehicle traverses the route,
- based on the adjusted predicted vehicle body orientation and an identified current orientation of an object in the vehicle, predict a change of orientation of the object;
- and
- based on the predicted change of orientation of the object, adjust the orientation of the object.
10 more elements
Dependencies are inferred from the claim text.