# US 11,993,272 B2 · Driving assistance method for a vehicle, control unit, driving assistance system, and vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,993,272 B2 - Document ID: US11993272B2 - Status: Granted - Kind: B2 - Application number: 17/055,409 - Filed: 2019-08-09 - Published: 2021-04-22 - Granted: 2024-05-28 - Earliest claimed: 2018-08-17 - Assignees: Robert Bosch GmbH - Applicants: Robert Bosch GmbH - Inventors: Fabian Stein; Alfred Peschka - Web page: https://patentgrep.com/patent/US11993272B2 ## CPC - B60W 50/00: Details of control systems for road vehicle drive control not related to the control of a particular sub-unit {, e.g. process diagnostic or vehicle driver interfaces} - B60W 40/105: Speed - B60W 40/107: Longitudinal acceleration - B60W 40/109: Lateral acceleration - B60W 40/114: Yaw movement - B62D 15/0285: {Parking performed automatically} - G01C 21/12: executed aboard the object being navigated; Dead reckoning - G01C 22/00: Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers - B60W 2050/0033: {Single-track, 2D vehicle model, i.e. two-wheel bicycle model} - B60W 2050/0052: {Filtering, filters} - B60W 2520/10: Longitudinal speed - B60W 2520/105: Longitudinal acceleration - B60W 2520/12: Lateral speed - B60W 2520/125: Lateral acceleration - B60W 2520/14: Yaw - B60W 2520/28: Wheel speed - B60W 2720/10: Longitudinal speed - B60W 2720/14: Yaw - G01S 19/39: the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO - G01S 19/396: {Determining accuracy or reliability of position or pseudorange measurements} - G01S 19/41: Differential correction, e.g. DGPS [differential GPS] - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES ## 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. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The driving assistance method as recited in claim 1, wherein a time delay of the signals is compensated for by temporally extrapolating measured values at an earlier measuring time to a current evaluation time, by integrating with respect to time, from the earlier measuring time to the current evaluation time, based on one or more measured values of an instantaneous acceleration of the vehicle and/or based on a single-track model of the vehicle. ### Claim 3 (depends on 1) The driving assistance method as recited in claim 1, wherein during the ascertaining of the instantaneous speed of the vehicle and the instantaneous yaw rate of the vehicle, an operation of Moore pseudoinversion is provided and applied to the at least one determined respective instantaneous circumferential wheel speed. ### Claim 4 (depends on 1) The driving assistance method as recited in claim 1, wherein a Moore pseudoinverse of a transformation matrix between a state of the vehicle and a vector formed by the at least one determined respective instantaneous circumferential wheel speed is generated and applied to the vector in order to provide the instantaneous speed of the vehicle and the instantaneous yaw rate of the vehicle. ### Claim 5 (depends on 1) The driving assistance method as recited in claim 1, wherein, for the each of the at least one respective wheel, the determination of the distance traveled by the wheel contact point is made using a combination of (a) output of a respective wheel impulse counter and (b) a predefined measure of a length of a respective circumference of the respective wheel. ### Claim 6 (depends on 5) The driving assistance method as recited in claim 5, wherein the filter includes a Bayes filter and an extended Kalman filter. ### Claim 7 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. ### Claim 8 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. ### Claim 9 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.