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US 12,715,455 B2Granted
Vehicle status parameter estimation method and apparatus
AssigneeYinwang Intelligent Technologies Co., Ltd.
InventorsDonghao Liu, Jie Luo, Yongsheng Zhang
Life of this patent
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Abstract
This application provides a vehicle status parameter estimation method and an apparatus, and relates to the field of automotive control technologies. The method includes: obtaining driving status data of a vehicle, a first process status x, and a first process covariance Q; determining a second process covariance Q(k) and a first measurement covariance R(k) based on the driving status data of the vehicle; obtaining a first measurement value yh of a vehicle sensor; and determining a vehicle status parameter of the vehicle based on the first measurement value yh, the first process status x, the first process covariance Q, the second process covariance Q(k), and the first measurement covariance R(k).
Claims21
A vehicle control method incorporating a vehicle status parameter estimation method, carried out by an apparatus comprising a transceiver and a processor, wherein the vehicle control method comprises:
- obtaining, by the transceiver, driving status data of a vehicle, a first process status x, and a first process covariance Q;
- determining, by the processor based on the driving status data of the vehicle, a second process covariance Q(k) and a first measurement covariance R(k);
- obtaining, by the transceiver, a first measurement value yh of a vehicle sensor;
- determining, by the processor, a vehicle status parameter of the vehicle based on the first measurement value yh, the first process status x, the first process covariance Q, the second process covariance Q(k), and the first measurement covariance R(k), and
- operating, in accordance with the vehicle status parameter, at least one vehicle control system of the vehicle taken from the group consisting of:
- an electronic stability program (ESP), an antilock brake system (ABS), a traction control system (TCS), a self-driving system, and an intelligent driving system;
- wherein the driving status data comprises one or more of the following:
- a lateral acceleration change rate {dot over (r)}V,
- a steering wheel speed {dot over (δ)},
- a horizontal acceleration ay,
- a road adhesion coefficient μ,
- a front left wheel speed ωFL,
- a front right wheel speed ωFR,
- a rear left wheel speed ωRL, or
- a rear right wheel speed ωRR,
- wherein the determining, by the processor, the second process covariance Q(k) based on the driving status data of the vehicle comprises:
- based on the road adhesion coefficient μ being greater than or equal to a first preset road adhesion coefficient threshold μTH, and an absolute value |{dot over (r)}V| of the lateral acceleration change rate being greater than a preset lateral acceleration change rate threshold {dot over (r)}VTH and/or an absolute value |{dot over (δ)}| of the steering wheel speed being greater than a preset steering wheel speed threshold {dot over (δ)}TH, obtaining, by the processor, a first preset process covariance matrix as the second process covariance Q(k);
- or
- based on the road adhesion coefficient μ being greater than or equal to the first preset road adhesion coefficient threshold μTH, and the absolute value |{dot over (r)}V| of the lateral acceleration change rate being less than or equal to the preset lateral acceleration change rate threshold {dot over (r)}VTH and the absolute value |{dot over (δ)}| of the steering wheel speed being less than or equal to the preset steering wheel speed threshold {dot over (δ)}TH, determining, by the processor, the second process covariance Q(k) based on the horizontal acceleration ay;
- or
- based on the road adhesion coefficient μ being less than the first preset road adhesion coefficient threshold μTH, and the absolute value |{dot over (r)}V| of the lateral acceleration change rate being greater than the preset lateral acceleration change rate threshold {dot over (r)}VTH and/or the absolute value |{dot over (δ)}| of the steering wheel speed being greater than the preset steering wheel speed threshold {dot over (δ)}TH, obtaining, by the processor, a second preset process covariance matrix as the second process covariance Q(k);
- or
- based on the road adhesion coefficient μ being less than the first preset road adhesion coefficient threshold μTH, and the absolute value |{dot over (r)}V| of the lateral acceleration change rate being less than or equal to the preset lateral acceleration change rate threshold rVTH and the absolute value |{dot over (δ)}| of the steering wheel speed being less than or equal to the preset steering wheel speed threshold {dot over (δ)}TH, obtaining, by the processor, a third preset process covariance matrix as the second process covariance Q(k).
20 more elements
A vehicle including at least one vehicle control system and a vehicle status parameter estimation apparatus comprising:
- a transceiver, and
- a processor,
- wherein the transceiver is configured to obtain driving status data of a vehicle, a first process status x, and a first process covariance Q;
- wherein the processor is configured to determine, based on the driving status data of the vehicle, a second process covariance Q(k) and a first measurement covariance R(k),
- wherein the transceiver is configured to obtain a first measurement value yh of a vehicle sensor;
- wherein the processor is configured to determine a vehicle status parameter of the vehicle based on the first measurement value yh, the first process status x, the first process covariance Q, the second process covariance Q(k), and the first measurement covariance R(k), and
- wherein the at least one vehicle system is configured to operate in accordance with the vehicle status parameter, wherein the at least one vehicle control system of the vehicle is taken from the group consisting of:
- an electronic stability program (ESP), an antilock brake system (ABS), a traction control system (TCS), a self-driving system, and an intelligent driving system;
- wherein the driving status data comprises one or more of the following:
- a lateral acceleration change rate {dot over (r)}V,
- a steering wheel speed {dot over (δ)},
- a horizontal acceleration ay,
- a road adhesion coefficient μ,
- a front left wheel speed ωFL,
- a front right wheel speed ωFR,
- a rear left wheel speed ωRL, or
- a rear right wheel speed ωRR,
- wherein the processor configured to determine the second process covariance Q(k) based on the driving status data of the vehicle by:
- based on the road adhesion coefficient μ being greater than or equal to a first preset road adhesion coefficient threshold μTH, and an absolute value |{dot over (r)}V| of the lateral acceleration change rate being greater than a preset lateral acceleration change rate threshold {dot over (r)}VTH and/or an absolute value |{dot over (δ)}| of the steering wheel speed being greater than a preset steering wheel speed threshold {dot over (δ)}TH, obtaining a first preset process covariance matrix as the second process covariance Q(k);
- or
- based on the road adhesion coefficient μ being greater than or equal to the first preset road adhesion coefficient threshold μTH, and the absolute value |{dot over (r)}V| of the lateral acceleration change rate being less than or equal to the preset lateral acceleration change rate threshold {dot over (r)}VTH and the absolute value |{dot over (δ)}| of the steering wheel speed being less than or equal to the preset steering wheel speed threshold {dot over (δ)}TH, determining the second process covariance Q(k) based on the horizontal acceleration ay;
- or
- based on the road adhesion coefficient μ being less than the first preset road adhesion coefficient threshold μTH, and the absolute value |{dot over (r)}V| of the lateral acceleration change rate being greater than the preset lateral acceleration change rate threshold {dot over (r)}VTH and/or the absolute value |{dot over (δ)}| of the steering wheel speed being greater than the preset steering wheel speed threshold {dot over (δ)}TH, obtaining a second preset process covariance matrix as the second process covariance Q(k);
- or
- based on the road adhesion coefficient μ being less than the first preset road adhesion coefficient threshold μTH, and the absolute value |{dot over (r)}V| of the lateral acceleration change rate being less than or equal to the preset lateral acceleration change rate threshold {dot over (r)}VTH and the absolute value |{dot over (δ)}| of the steering wheel speed being less than or equal to the preset steering wheel speed threshold {dot over (δ)}TH, obtaining a third preset process covariance matrix as the second process covariance Q(k).
22 more elements
A non-transitory computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is run on a computer, the computer is caused to perform a vehicle control method comprising:
- obtaining driving status data of a vehicle, a first process status x, and a first process covariance Q;
- determining, based on the driving status data of the vehicle, a second process covariance Q(k) and a first measurement covariance R(k);
- obtaining a first measurement value yh of a vehicle sensor;
- determining a vehicle status parameter of the vehicle based on the first measurement value yh, the first process status x, the first process covariance Q, the second process covariance Q(k), and the first measurement covariance R(k), and
- operating, in accordance with the vehicle status parameter, at least one vehicle control system of the vehicle taken from the group consisting of:
- an electronic stability program (ESP), an antilock brake system (ABS), a traction control system (TCS), a self-driving system, and an intelligent driving system;
- wherein the driving status data comprises one or more of the following:
- a lateral acceleration change rate {dot over (r)}V,
- a steering wheel speed δ,
- a horizontal acceleration ay,
- a road adhesion coefficient μ,
- a front left wheel speed ωFL,
- a front right wheel speed ωFR,
- a rear left wheel speed ωRL, or
- a rear right wheel speed ωRR,
- wherein the determining, by the processor, the second process covariance Q(k) based on the driving status data of the vehicle comprises:
- based on the road adhesion coefficient μ being greater than or equal to a first preset road adhesion coefficient threshold μTH, and an absolute value |{dot over (r)}V| of the lateral acceleration change rate being greater than a preset lateral acceleration change rate threshold {dot over (r)}VTH and/or an absolute value |{dot over (δ)}| of the steering wheel speed being greater than a preset steering wheel speed threshold {dot over (δ)}TH, obtaining, by the processor, a first preset process covariance matrix as the second process covariance Q(k);
- or
- based on the road adhesion coefficient μ being greater than or equal to the first preset road adhesion coefficient threshold μTH, and the absolute value |{dot over (r)}V| of the lateral acceleration change rate being less than or equal to the preset lateral acceleration change rate threshold {dot over (r)}VTH and the absolute value |{dot over (δ)}| of the steering wheel speed being less than or equal to the preset steering wheel speed threshold {dot over (δ)}TH, determining, by the processor, the second process covariance Q(k) based on the horizontal acceleration ay;
- or
- based on the road adhesion coefficient μ being less than the first preset road adhesion coefficient threshold μTH, and the absolute value |{dot over (r)}V| of the lateral acceleration change rate being greater than the preset lateral acceleration change rate threshold {dot over (r)}VTH and/or the absolute value |{dot over (δ)}| of the steering wheel speed being greater than the preset steering wheel speed threshold {dot over (δ)}TH, obtaining, by the processor, a second preset process covariance matrix as the second process covariance Q(k);
- or
- based on the road adhesion coefficient μ being less than the first preset road adhesion coefficient threshold μTH, and the absolute value |{dot over (r)}V| of the lateral acceleration change rate being less than or equal to the preset lateral acceleration change rate threshold {dot over (r)}VTH and the absolute value |{dot over (δ)}| of the steering wheel speed being less than or equal to the preset steering wheel speed threshold {dot over (δ)}TH, obtaining, by the processor, a third preset process covariance matrix as the second process covariance Q(k).
20 more elements
Dependencies are inferred from the claim text.