Patent ID: 11933616
Assignee: SHENZHEN GUDSEN TECHNOLOGY CO., LTD
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 14:
15. The method of claim 13, wherein the one or more sensors comprise:
an inertial measurement unit (“IMU”) located at a distal end, proximal end, or between the distal end and the proximal end of a longitudinal axis of the vehicle;
a plurality of range sensors located on a lateral axis of the vehicle with the IMU, and
a location sensor to provide location data,
wherein the sensor data further comprise the longitudinal velocity data, the vertical velocity data, and angular velocity data,
wherein the method further comprises:
generating, by the data processing system, the current road profile of the ground, based on the longitudinal velocity data, the vertical velocity data, and the angular velocity data; and
determining, by the data processing system, the first location of the vehicle based on the location data, and

wherein the one or more sensors further comprise a plurality of acceleration sensors located at the top and the bottom of each suspension of the vehicle, and wherein the method further comprises:
determining, by the data processing system, via the plurality of acceleration sensors, suspension dynamic data of the vehicle;
normalizing, by the data processing system the plurality of vertical displacement signals of the current road profile based on the suspension dynamic data of the vehicle; and
comparing, by the data processing system, the historical vertical displacements of the historical road profile with the normalized vertical displacement signals of the current road profile at the second location that aligns with the lateral deviation.