Patent ID: 7269494
Filing Date: 2007-09-11
Classification: B60W,G01C,G01P

Abstract:
1. Method of estimating the slope of a road on which there is positioned a motor vehicle provided with rotational velocity sensor means for measuring the modulus of the velocity of the vehicle and with acceleration measuring means for measuring the acceleration in the longitudinal direction of the vehicle, characterized in that it comprises the following operations: a) providing a signal indicating the measurement of the velocity of the vehicle (V b) providing a signal indicating the measurement of the acceleration in the longitudinal direction of the vehicle (AxVehFilV) by means of the said acceleration measuring means; c) determining an estimated value of the slope of the road (StimaPend), the said determination of the estimated value comprising, subject to a condition of enabling the estimation, the processing of the velocity measurement signal (V where A d) processing the velocity measurement signal (V e) repeating operations a) to d) recursively according to a predetermined rule, in which the sign of the velocity (Segno) determined in operation d) of a specific recursive step is used as an additional input for operation c) of a successive recursive step to update the estimated value of the slope of the road (StimaPend).