Method and arrangement for determining road inclination

Patent metadata

Field	Value
Publication number	US-11021161-B2
Application number	US-201616318893-A
Country	US
Kind code	B2
Filing date	Jul 19, 2016
Priority date	Jul 19, 2016
Publication date	Jun 1, 2021
Grant date	Jun 1, 2021

Abstract

The invention relates to a method and arrangement for determining a current road inclination, specifically taking into account a quality measure for the determination. The invention also relates to a corresponding computer program product. The method comprises the steps of: —measuring (S 1 ), a first vehicle operating parameter; —receiving (S 2 ) the first vehicle operating parameter; —determining (S 3 ) an indication of a quality level for the first vehicle operating parameter, and —determining (S 4 ) an estimated value of the current road inclination based on the first vehicle operating parameter and the indication of the quality level for the first vehicle operating parameter.

First claim

The invention claimed is:

1. A method for on-board determination of an estimated value of a road inclination of a road currently driven by a vehicle, the vehicle comprising:
at least a first sensor configured to measure a first vehicle operating parameter for the vehicle, and
an electronic control unit (ECU) arranged in communication with the first sensor, characterized where the method comprises the steps of:
measuring (S 1 ), using the first sensor, the first vehicle operating parameter;
receiving (S 2 ), at the ECU, the first vehicle operating parameter;
determining (S 3 ), at the ECU, an indication of a quality level for the first vehicle operating parameter, and
determining (S 4 ), at the ECU, the estimated value of the current road inclination based on the first vehicle operating parameter and the indication of the quality level for the first vehicle operating parameter, and characterized by the further steps of
comparing, at the ECU, the quality level with a threshold,

wherein the determination of the estimated value of the current road inclination is further based on a result of the comparison, and wherein the estimated value of the current road inclination is based on a dead reckoning for the vehicle if the quality level is determined to be below the threshold.

2. The method according to claim 1 , wherein the vehicle comprises an engine or electrical machine and the at least first sensor is configured to measure a representation of a torque for the engine or electrical machine, respectively.

3. The method according to claim 1 , wherein the at least first sensor is configured to measure a representation of a vehicle speed.

4. The method according to claim 1 , wherein the at least first sensor is configured to measure a representation of a vehicle acceleration.

5. The method according to claim 1 , wherein the at least first sensor is configured to measure a representation of a vehicle weight.

6. The method according to claim 1 , wherein the vehicle comprises a second sensor configured to measure a second vehicle operating parameter for the vehicle.

7. The method according to claim 6 , wherein the determination of the estimated value of the current road inclination is additionally based on the second vehicle operating parameter and an indication of a quality level for the second vehicle operating parameter.

8. The method according to claim 7 , further comprising the steps of:
correlating the quality level for the first vehicle operating parameter with the quality level for the second vehicle operating parameter, and
determining a weighting factor based on a result of the correlation,

wherein the determination of the estimated value of the current road inclination further takes into account the weighting factor.

9. The method according to claim 1 , wherein the step of determining the indication of the quality level for the first vehicle operating parameter further comprises:
comparing the first vehicle operating parameter with a predefined range for the first vehicle operating parameter.

10. The method according to claim 1 , further comprising the step of:
operating the vehicle based on the estimated value of the current road inclination.

11. The method according to claim 10 , wherein the vehicle comprises a transmission and the operation of the vehicle includes shifting between different gears.

12. The method according to claim 11 , wherein if the quality level is below the threshold, a low gear or lowest available gear is selected.

13. The method according to claim 1 , further comprising:
continuously measuring the first vehicle operating parameter, and
determining a trend based on a plurality of measured first vehicle operating parameters measured over a time interval.

14. An on-board arrangement for a vehicle, the arrangement provided for determining of an estimated value of a road inclination of a road currently driven by the vehicle, wherein the arrangement comprises:
at least a first sensor configured to measure a first vehicle operating parameter for the vehicle, and
an electronic control unit (ECU) arranged in communication with the first sensor, where the ECU is configured to:
receive the first vehicle operating parameter from the first sensor;
determine an indication of a quality level for the first vehicle operating parameter, and
determine the estimated value of the current road inclination based on the first vehicle operating parameter and the indication of the quality level for the first vehicle operating parameter, and characterized in that the ECU is further configured to:
compare the quality level with a threshold,

wherein the determination of the estimated value of the current road inclination is further based on a result of the comparison, and wherein the estimated value of the current road inclination is based on a dead reckoning for the vehicle if the quality level is determined to be below the threshold.

15. The arrangement according to claim 14 , wherein the at least first sensor is configured to measure a representation of at least one of a torque, a vehicle speed, a vehicle acceleration, or a vehicle weight.

16. The arrangement according to claim 14 , wherein the ECU is further configured to operate the vehicle based on the estimated value of the current road inclination.

17. A vehicle, comprising the arrangement according to claim 14 .

18. A computer program product comprising a non-transitory computer readable medium having stored thereon computer program means for operating an on-board arrangement for a vehicle, the arrangement provided for determining of an estimated value of a road inclination of a road currently driven by the vehicle, wherein the arrangement comprises:
at least a first sensor configured to measure a first vehicle operating parameter for the vehicle, and
an electronic control unit (ECU) arranged in communication with the first sensor, wherein the computer program product comprises:
code for receiving the first vehicle operating parameter;
code for determining an indication of a quality level for the first vehicle operating parameter;
code for determining the estimated value of the current road inclination based on the first vehicle operating parameter and the indication of the quality level for the first vehicle operating parameter, and
code for comparing, at the ECU, the quality level with a threshold,

wherein the determination of the estimated value of the current road inclination is further based on a result of the comparison, and wherein the estimated value of the current road inclination is based on a dead reckoning for the vehicle if the quality level is determined to be below the threshold.

Assignees

• Volvo Truck Corp

Inventors

• Åsbogård Mattias
• Jerrelind Jonas
• Tribaudeau Maud

Classifications

• B60W2050/006

  Interpolation; Extrapolation · CPC title

• B60W40/076 Primary

  Slope angle of the road · CPC title

• B60W2530/10

  Weight · CPC title

• B60W2050/0031

  Mathematical model of the vehicle · CPC title

• B60W2050/0027

  Minimum/maximum value selectors · CPC title