Systems and methods for vehicle control using terrain-based localization
Systems and methods described herein include implementation of road surface-based localization techniques for advanced vehicle features and control methods including confidence-based consumption, air suspension control systems and methods, end of travel management, road profile creation techniques, and others.
1 . A method of creating a road profile estimate, the method comprising:
obtaining multiple datasets, each of the multiple datasets representing a road profile estimation for a road segment, the multiple datasets originating from either different vehicles, different sensor sets, or operation at different speeds, wherein the multiple datasets include data recorded at different spatial and/or temporal frequencies;
determining a range of spatial frequencies where each of the multiple datasets have high fidelity;
blending the multiple datasets into a single road profile estimate in a spatial frequency domain; and
storing the single road profile estimate in a database.
2 . The method of claim 1 , further comprising translating, based on a driving speed, a temporal frequency range of each of the multiple datasets into a spatial frequency range.
3 . The method of claim 1 , wherein the blending of the multiple datasets is based on a valid spatial frequency range of each of the multiple datasets.
4 . The method of claim 1 , wherein blending further comprises applying a sharp filter in an acausal way to each of the multiple datasets.
5 . The method of claim 4 , wherein the sharp filter is a brick-wall filter or a knife-edge filter.
6 . The method of claim 4 , wherein the sharp filter removes spatial frequency content outside of a valid range for each of the multiple datasets.
7 . The method of claim 6 , wherein the sharp filter maintains a phase of each of the multiple datasets.
8 . The method of claim 6 , wherein the sharp filter removes spatial frequency content outside of the valid range without introducing any phase delays.
9 . The method of claim 6 , wherein the valid range is a valid range of spatial frequencies for each of the multiple datasets, wherein the valid range is based on a frequency response of the sensor sets divided by a vehicle driving speed.
10 . The method of claim 4 , further comprising interpolating data for each of the multiple datasets based on spatial frequency values of the single road profile estimate.
11 . The method of claim 4 , further comprising averaging data for each of the multiple datasets into the single road profile estimate.