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US 11,993,272 B2Granted
Driving assistance method for a vehicle, control unit, driving assistance system, and vehicle
AssigneeRobert Bosch GmbH
InventorsFabian Stein, Alfred Peschka
Life of this patent
Estimating the term…
Abstract
A driving assistance method for a vehicle. An instantaneous speed of the vehicle and an instantaneous yaw rate of the vehicle are ascertained. An operation of self-locating of the vehicle is carried out on the basis of the ascertained, instantaneous speed and the ascertained, instantaneous yaw rate of the vehicle. To that end, an instantaneous circumferential wheel speed of one or more wheels of the vehicle is directly measured, evaluated and taken as a basis of the determination of the instantaneous speed and the instantaneous yaw rate of the vehicle.
Claims9
A driving assistance method for a vehicle, comprising the following steps:
- for each of at least one respective wheel, determining a respective instantaneous circumferential wheel speed from signals of a respective rotational speed sensor of the respective wheel;
- ascertaining, based on the at least one respective instantaneous circumferential wheel speed, both an instantaneous speed of the vehicle and an instantaneous yaw rate of the vehicle;
- for the each of the at least one respective wheel, determining a distance traveled by a wheel contact point of the respective wheel;
- and
- applying the determined distance traveled by the wheel contact point, the ascertained instantaneous speed of the vehicle, and the ascertained instantaneous yaw rate of the vehicle as three parallel input parameters to a filter that operates on the input parameters to self-locate the vehicle based on the input parameters while the vehicle is traveling at a speed of less than 5 kilometers per hour.
2 more elements
A control unit for a driving assistance system of a vehicle, the control unit configured to:
- for each of at least one respective wheel, determine a respective instantaneous circumferential wheel speed from signals of a respective rotational speed sensor of the respective wheel;
- ascertain, based on the at least one respective instantaneous circumferential wheel speed, both an instantaneous speed of the vehicle and an instantaneous yaw rate of the vehicle;
- for the each of the at least one respective wheel, determine a distance traveled by a wheel contact point of the respective wheel;
- and
- apply the determined distance traveled by the wheel contact point, the ascertained instantaneous speed of the vehicle and the ascertained instantaneous yaw rate of the vehicle as three parallel input parameters to a filter that operates on the input parameters to self-locate the vehicle based on the input parameters while the vehicle is traveling at a speed of less than 5 kilometers per hour.
2 more elements
A driving assistance system for a vehicle, comprising:
- a control unit configured to:
- for each of at least one respective wheel, determine a respective instantaneous circumferential wheel speed from signals of a respective rotational speed sensor of the respective wheel;
- ascertain, based on the at least one respective instantaneous circumferential wheel speed, both an instantaneous speed of the vehicle and an instantaneous yaw rate of the vehicle;
- for the each of the at least one respective wheel, determining a distance traveled by a wheel contact point of the respective wheel;
- and
- apply the determined distance traveled by the wheel contact point, the ascertained instantaneous speed of the vehicle and the ascertained instantaneous yaw rate of the vehicle as three parallel input parameters to a filter that operates on the input parameters to self-locate the vehicle based on the input parameters while the vehicle is traveling at a speed of less than 5 kilometers per hour.
3 more elements
A vehicle, comprising:
- a driving assistance system for the vehicle, the driving assistance system comprising a control unit configured to:
- for each of at least one respective wheel, determine ing a respective instantaneous circumferential wheel speed from signals of a respective rotational speed sensor of the respective wheel;
- ascertain, based on the at least one respective instantaneous circumferential wheel speed, both an instantaneous speed of the vehicle and an instantaneous yaw rate of the vehicle;
- for the each of the at least one respective wheel, determining a distance traveled by a wheel contact point of the respective wheel;
- and
- apply the determined distance traveled by the wheel contact point, the ascertained instantaneous speed of the vehicle and the ascertained instantaneous yaw rate of the vehicle as three parallel input parameters to a filter that operates on the input parameters to self-locate the vehicle based on the input parameters while the vehicle is traveling at a speed of less than 5 kilometers per hour.
3 more elements
Dependencies are inferred from the claim text.