A vehicle motion management, VMM, system for a heavy-duty vehicle has at least one wheel speed sensor outputs a wheel speed signal indicative of a rotation speed of a respective wheel on the vehicle, at least one inertial measurement unit, IMU, outputs an IMU signal indicative of an acceleration of the vehicle, a motion estimation function estimates a vehicle motion state comprising vehicle speed over ground, SOG, based on the at least one wheel speed signal and on the at least one IMU signal. The motion estimation function estimates a respective SOG error associated with the wheel speed signal as an increasing function of an applied torque to the wheel, and a respective SOG error associated with the IMU signal as an increasing function of a time duration elapsed after calibration of an integrator of the IMU signal. The motion estimation function estimates the vehicle SOG, based on a weighted combination of the at least one wheel speed signal and the at least one IMU signal, where the weights of the weighted combination are determined based on the SOG error associated with the wheel speed signal and on the SOG error associated with the IMU signal.
ROBUST VEHICLE SPEED OVER GROUND ESTIMATION USING WHEEL SPEED SENSORS AND INERTIAL MEASUREMENT UNITS
ROBUSTE FAHRZEUGGESCHWINDIGKEITSSCHÄTZUNG ÜBER DEN BODEN UNTER VERWENDUNG VON RADDREHZAHLSENSOREN UND TRÄGHEITSMESSEINHEITEN
ESTIMATION ROBUSTE DE LA VITESSE AU SOL D'UN VÉHICULE AU MOYEN DE CAPTEURS DE VITESSE DE ROUE ET D'UNITÉS DE MESURE INERTIELLE
2025-01-15
Patent
Electronic Resource
English
IPC: | B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF |
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