Indication of vehicle direction of travel
A vehicle may include a processor programmed to control operation of the vehicle. The processor may control operation of the vehicle according to an indication of a direction of travel. The indication of direction of travel may be based on signs of data representing jerk of the vehicle. The signs of data representing jerk may be derived from acceleration and speed sensor outputs. The indication may be such that the indication is reverse in response to the signs being opposite when the vehicle is in a forward drive gear.
1. A vehicle comprising: an acceleration sensor; a speed sensor; and a processor programmed to control operation of the vehicle according to an indication of direction of travel that is based on a sign of data representing jerk of the vehicle derived from the acceleration sensor output and a sign of data representing jerk of the vehicle derived from the speed sensor output such that the indication is reverse responsive to the signs being opposite when the vehicle is in a forward drive gear.
2. The vehicle of claim 1 , wherein the indication is forward in response to the signs being same when the vehicle is in a reverse gear.
3. The vehicle of claim 1 , wherein the processor is further programmed to apply a band-pass filter to the data to remove frequency content indicative of road grade variation.
4. The vehicle of claim 1 , wherein controlling operation of the vehicle includes executing an automatic steering command.
5. The vehicle of claim 1 , wherein controlling operation of the vehicle includes executing an automatic parking command.
6. A method comprising: by a controller of a vehicle gathering, from an acceleration sensor of the vehicle, acceleration sensor output; gathering, from a speed sensor of the vehicle, speed sensor output; and generating a reverse indication of direction of travel in response to a sign of data representing jerk derived from the acceleration sensor output and a sign of data representing jerk derived from the speed sensor output being opposite when the vehicle is in a forward drive gear; and controlling operation of the vehicle according to the reverse indication.
7. The method of claim 6 further comprising generating a forward indication of direction of travel in response to the signs being same when the vehicle is in a reverse gear.
8. The method of claim 6 further comprising applying a band-pass filter to the data to remove frequency content indicative of road grade variation.
9. The method of claim 6 further comprising executing an automatic steering command based on the indicated direction of travel.
10. The method of claim 6 further comprising executing an automatic parking command based on the indicated direction of travel.
11. A vehicle comprising: an acceleration sensor; a speed sensor; and a processor programmed to execute automatic steering commands according to a forward indication of direction of travel that is generated in response to signs of data, representing jerk of the vehicle derived from the acceleration sensor output and the speed sensor output, being same when the vehicle is in a reverse gear.
12. The vehicle of claim 11 , wherein the processor is further programmed to execute automatic steering commands according to a rearward indication of direction of travel that is generated in response to signs of data, representing jerk of the vehicle derived from acceleration and speed sensor outputs, being opposite when the vehicle is in a forward drive gear.
13. The vehicle of claim 11 , wherein the processor is further programmed to apply a band-pass filter to the data to remove frequency content indicative of road grade variation.
14. The vehicle of claim 11 , wherein the automatic steering commands park the vehicle.