Jaguar Land Rover Limited

Juan Herrera

Nick Solomon

Stephen Docker

Mark Flinders

Embodiments of the present invention provide a method of controlling a vehicle, comprising predicting a first parameter of a vehicle state at each of a plurality of points in time in dependence on a first parameter of a current vehicle state and a first model associated with the vehicle, predicting a second parameter of the vehicle state at each of the plurality of points in time in dependence on a second parameter of the current vehicle state, the predicted first parameter of the vehicle state and a second model associated with the vehicle, and determining one or more control inputs for the vehicle at each of the points in time in dependence on the predicted first and second parameters of the vehicle state at each of the plurality of points in time and desired first and second parameters of the vehicle state at each of the plurality of points in time.

Apparatus and method for controlling a vehicle using a first model and a second model

A surface roughness estimator for a vehicle configured to generate a first surface roughness index value indicative of terrain surface roughness and to output a signal in dependence at least in part on the first surface roughness index value, the estimator being configured to receive first acceleration information indicative of a first acceleration along a first axis, receive second acceleration information indicative of a second acceleration along a second axis, calculate a combined value in dependence on the first acceleration and second acceleration, and adjust the combined value in dependence on a speed of the vehicle to generate the first surface roughness index value.

Estimator and method

The present disclosure relates to an apparatus () for estimation of a vehicle state. The apparatus () includes a controller () configured to determine a first estimation of the vehicle state in dependence on at least one first vehicle dynamics parameter. A filter coefficient (F) is calculated based on a first vehicle operating parameter. An operating frequency of a first signal filter () is set in dependence on the determined filter coefficient (F) and the first estimation is filtered to generate a first filtered estimation of the vehicle state. The present disclosure also relates to a vehicle; and to a method of estimating a vehicle state.

Vehicle state estimation apparatus and method

A method of angle estimation for use in a vehicle which is travelling on a surface. The vehicle includes a vehicle body having a first axis and being attached to at least two wheels. The method includes the steps of: providing a first height sensor for measuring h, the height of the vehicle body with respect to the first wheel; providing a second height sensor for measuring h, the height of the vehicle body with respect to the second wheel; providing a surface angle sensor for measuring &#x3b8;, the angle of the surface in relation to a horizontal plane; measuring the values of h, hand &#x3b8;; using the values of hand hto calculate &#x3b8;, the angle of the vehicle body relative to the surface; and calculating an estimate of &#x3b8;, the angle between the first axis and the horizontal plane, from &#x3b8;and &#x3b8;.

Growing community of inventors

Coventry, United Kingdom

Juan Herrera