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SE1851051A1 - Method and control device method for validating sensor data from a vehicle during drive of the vehicle - Google Patents

Method and control device method for validating sensor data from a vehicle during drive of the vehicle

Info

Publication number
SE1851051A1
SE1851051A1 SE1851051A SE1851051A SE1851051A1 SE 1851051 A1 SE1851051 A1 SE 1851051A1 SE 1851051 A SE1851051 A SE 1851051A SE 1851051 A SE1851051 A SE 1851051A SE 1851051 A1 SE1851051 A1 SE 1851051A1
Authority
SE
Sweden
Prior art keywords
vehicle
sensor data
inertial measurement
imu2
imu1
Prior art date
Application number
SE1851051A
Inventor
Daniel Tenselius
Fredrich Claezon
Mattias Johansson
Original Assignee
Scania Cv Ab
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Scania Cv Ab filed Critical Scania Cv Ab
Priority to SE1851051A priority Critical patent/SE1851051A1/en
Priority to PCT/SE2019/050785 priority patent/WO2020050763A1/en
Publication of SE1851051A1 publication Critical patent/SE1851051A1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60W50/00—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
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/023—Avoiding failures by using redundant parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60W50/00—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
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60W50/00—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
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • B60W2050/021—Means for detecting failure or malfunction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60W50/00—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
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • B60W2050/0215—Sensor drifts or sensor failures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/12—Trucks; Load vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/12—Trucks; Load vehicles
    • B60W2300/125—Heavy duty trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60W2300/00—Indexing codes relating to the type of vehicle
    • B60W2300/14—Tractor-trailers, i.e. combinations of a towing vehicle and one or more towed vehicles, e.g. caravans; Road trains
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60W2422/00—Indexing codes relating to the special location or mounting of sensors
    • B60W2422/95—Measuring the same parameter at multiple locations of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/25—Data precision
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60W50/00—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
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Traffic Control Systems (AREA)

Abstract

The present invention relates to a method performed by a control device (100) for validating sensor data from a vehicle (V) during drive of the vehicle. The vehicle (V) has a chassis (1) and a cab (2) suspendedly arranged so as to allow movement relative to the vehicle chassis (1). The vehicle (V) is provided with a chassis related sensor unit (110) associated with a first inertial measurement unit (IMU1) a cab related sensor unit (120) associated with a second inertial measurement unit (IMU2). The method comprises co-validating sensor data from the chassis related sensor unit (110) and sensor data from the cab related sensor unit (120) by means of the first and second inertial measurement units (IMU1, IMU2). The method further comprises, by means of a dynamic model, estimating measurement data from one of the inertial measurement units (IMU1, IMU2) based on measurement data from the other inertial measurement unit (IMU2, IMU1); and diagnosing the first and second inertial measurement units (IMU1, IMU2) based on the thus estimated measurement data from the respective inertial measurement unit as a basis for co-validating sensor data from the chassis related sensor unit (110) and sensor data from the cab related sensor unit (120).The present invention also relates to a control device for validating sensor data from a vehicle during drive of the vehicle. The present invention also relates to a computer program and a computer readable medium.
SE1851051A 2018-09-05 2018-09-05 Method and control device method for validating sensor data from a vehicle during drive of the vehicle SE1851051A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
SE1851051A SE1851051A1 (en) 2018-09-05 2018-09-05 Method and control device method for validating sensor data from a vehicle during drive of the vehicle
PCT/SE2019/050785 WO2020050763A1 (en) 2018-09-05 2019-08-27 Method and control device method for validating sensor data from a vehicle during drive of the vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE1851051A SE1851051A1 (en) 2018-09-05 2018-09-05 Method and control device method for validating sensor data from a vehicle during drive of the vehicle

Publications (1)

Publication Number Publication Date
SE1851051A1 true SE1851051A1 (en) 2020-03-06

Family

ID=69722698

Family Applications (1)

Application Number Title Priority Date Filing Date
SE1851051A SE1851051A1 (en) 2018-09-05 2018-09-05 Method and control device method for validating sensor data from a vehicle during drive of the vehicle

Country Status (2)

Country Link
SE (1) SE1851051A1 (en)
WO (1) WO2020050763A1 (en)

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7376499B2 (en) * 2005-09-16 2008-05-20 Gm Global Technology Operations, Inc. State-of-health monitoring and fault diagnosis with adaptive thresholds for integrated vehicle stability system
US10207719B2 (en) * 2010-07-19 2019-02-19 Nxp Usa, Inc. Use of multiple internal sensors for measurements validation
US8521468B2 (en) * 2010-08-25 2013-08-27 GM Global Technology Operations LLC Diagnostic method for use with a vehicle dynamic control system (VDCS)
US9221396B1 (en) * 2012-09-27 2015-12-29 Google Inc. Cross-validating sensors of an autonomous vehicle
US20160137209A1 (en) * 2014-11-18 2016-05-19 GM Global Technology Operations LLC Motion-based multi-sensor calibration
US10000215B2 (en) * 2016-04-13 2018-06-19 GM Global Technology Operations LLC Detection and reconstruction of pitch rate sensor fault
WO2017189361A1 (en) * 2016-04-29 2017-11-02 Pcms Holdings, Inc. System and method for calibration of vehicle sensors assisted by inter-vehicle communication

Also Published As

Publication number Publication date
WO2020050763A1 (en) 2020-03-12

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