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US 11,884,278 B2Granted
Vehicle sensors arrangement and method for mapping the road profiles
AssigneeShenzhen Gudsen Technology Co., Ltd
InventorsChenyong Guan, Yu Jiang
Life of this patent
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Abstract
Systems, methods, and apparatuses for controlling components of a vehicle are provided. The vehicle can include a data processing system (“DPS”) including one or more processors and memory. The DPS can receive sensor data from sensors of the vehicle. The DPS can determine a vehicle body height. The DPS can determine a vehicle roll angle. The DPS can determine a first height of a road and a second height or the road. The DPS can determine a road height based on the first height of the road and the second height of the road. The DPS can provide the road height to a controller of one or more vehicles. The DPS can adjust the component of the one or more vehicles.
Claims20
A system to control components of a vehicle, comprising:
- a data processing system comprising one or more processors and memory to:
- receive, via an inertial measurement unit (“IMU”) on the vehicle that measures at a frequency of at least 100 Hertz, vertical acceleration data, angular velocity data, and lateral acceleration data;
- receive, via a first range sensor on the vehicle that measures at the frequency and is located on a lateral axis of the vehicle with the IMU, first vertical displacement data corresponding to a distance between the first range sensor and a first portion of a ground that contacts a first tire of the vehicle;
- receive, via a second range sensor on the vehicle that measures at the frequency and is located on the lateral axis of the vehicle with the IMU, second vertical displacement data corresponding to a distance between the second range sensor and a second portion of the ground that contacts a second tire of the vehicle;
- receive, via a positioning sensor on the vehicle, location data of the vehicle and altitude data of the vehicle;
- determine a vertical vehicle body height based on fusing the vertical acceleration data and the altitude data;
- determine a vehicle roll angle based on fusing the vertical acceleration data, the angular velocity data, and the lateral acceleration data;
- determine a first height of a first side of the vehicle and a second height of a second side of the vehicle based on a track width of the vehicle, the first vertical displacement data, the second vertical displacement data, the vertical vehicle body height, and the vehicle roll angle;
- determine a road height at the location on the ground based on the first height of the first side of the vehicle and the second height of the second side of the vehicle;
- and
- provide the road height to a controller of one or more vehicles to cause the controller to control a component of the one or more vehicles based on the road height.
8 more elements
A method for controlling components of a vehicle, comprising:
- receiving, by a data processing system comprising one or more processors and memory, via an inertial measurement unit (“IMU”) on the vehicle that measures at a frequency of at least 100 Hertz, vertical acceleration data, angular velocity data, and lateral acceleration data;
- receiving, by the data processing system, via a first range sensor on the vehicle that measures at the frequency and is located on a lateral axis of the vehicle with the IMU, first vertical displacement data corresponding to a distance between the first range sensor and a first portion of a ground that contacts a first tire of the vehicle;
- receiving, by the data processing system, via a second range sensor on the vehicle that measures at the frequency and is located on the lateral axis of the vehicle with the IMU, second vertical displacement data corresponding to a distance between the second range sensor and a second portion of the ground that contacts a second tire of the vehicle;
- receiving, by the data processing system, via a positioning sensor on the vehicle, location data of the vehicle and altitude data of the vehicle;
- determining, by the data processing system, a vertical vehicle body height based on fusing the vertical acceleration data and the altitude data;
- determining, by the data processing system, a vehicle roll angle based on fusing the vertical acceleration data, the angular velocity data, and the lateral acceleration data;
- determining, by the data processing system, a first height of a first side of the vehicle and a second height of a second side of the vehicle based on a track width of the vehicle, the first vertical displacement data, the second vertical displacement data, the vertical vehicle body height, and the vehicle roll angle;
- determining, by the data processing system, a road height at the location on the ground based on the first height of the first side of the vehicle and the second height of the second side of the vehicle;
- and
- providing, by the data processing system, the road height to a controller of one or more vehicles to cause the controller to control a component of the one or more vehicles based on the road height.
7 more elements
Dependencies are inferred from the claim text.