A vehicle motion management, VMM, system (460) for a heavy vehicle (100), the system comprising at least one wheel speed sensor (106) configured to output a wheel speed signal indicative of a rotational speed (# imgabs0 #) of a respective wheel (102) on the vehicle (100); at least one inertial measurement unit (IMU) (110) configured to output an IMU signal indicative of an acceleration (# imgabs1 #) of the vehicle (100); a motion estimation function configured to estimate, based on the at least one wheel speed signal and the at least one IMU signal, a vehicle motion state (s) including a vehicle-to-ground speed SOG (# imgabs2 #); wherein the motion estimation function is arranged to estimate a respective SOG error associated with the wheel speed signal as an incremental function of a torque applied to the wheel (102) and to estimate a respective SOG error associated with the IMU signal as an incremental function of a duration elapsed after calibrating an integrator of the IMU signal, wherein the motion estimation function is configured to estimate the vehicle SOG (# imgabs3 #) based on a weighted combination of the at least one wheel speed signal and the at least one IMU signal, wherein a weight of the weighted combination is determined based on the SOG error associated with the wheel speed signal and the SOG error associated with the IMU signal.
一种用于重型车辆(100)的车辆运动管理VMM系统(460),所述系统包括至少一个车轮速度传感器(106),其被配置为输出指示所述车辆(100)上的相应车轮(102)的转速(#imgabs0#)的车轮速度信号;至少一个惯性测量单元IMU(110),其被配置为输出指示所述车辆(100)的加速度(#imgabs1#)的IMU信号;运动估计功能,其被配置为基于所述至少一个车轮速度信号和所述至少一个IMU信号来估计包括车辆对地速度SOG(#imgabs2#)在内的车辆运动状态(s);其中所述运动估计功能被布置为将与所述车轮速度信号相关联的相应SOG误差估计为施加到车轮(102)的扭矩的递增函数,并将与所述IMU信号相关联的相应SOG误差估计为在校准所述IMU信号的积分器之后经过的持续时间的递增函数,其中所述运动估计功能被配置为基于所述至少一个车轮速度信号和所述至少一个IMU信号的加权组合来估计所述车辆SOG(#imgabs3#),其中所述加权组合的权重基于与所述车轮速度信号相关联的所述SOG误差和与所述IMU信号相关联的所述SOG误差来确定。
Robust vehicle-to-ground speed estimation using wheel speed sensors and inertial measurement units
使用车轮速度传感器和惯性测量单元的稳健车辆对地速度估计
2024-11-15
Patent
Electronic Resource
Chinese
IPC: | B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF |
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