US 11,858,516 B2
Surface profile measuring apparatus and method having no minimum speed requirement
Ethan M. Grother, Manhattan, KS (US); Brent L. Bergman, Manhattan, KS (US); and Dennis P. Scott, Larkspur, CA (US)
Assigned to Surface Systems and Instruments, Inc., Larkspur, CA (US)
Filed by Surface Systems and Instruments, Inc., Larkspur, CA (US)
Filed on Sep. 8, 2020, as Appl. No. 17/014,626.
Claims priority of provisional application 62/897,521, filed on Sep. 9, 2019.
Prior Publication US 2021/0070305 A1, Mar. 11, 2021
Int. Cl. B60W 40/076 (2012.01); B60W 40/11 (2012.01); B60W 30/14 (2006.01); B60W 50/00 (2006.01)
CPC B60W 40/076 (2013.01) [B60W 30/143 (2013.01); B60W 40/11 (2013.01); B60W 2050/0052 (2013.01); B60W 2050/0075 (2013.01); B60W 2420/52 (2013.01); B60W 2520/16 (2013.01); B60W 2552/15 (2020.02); B60W 2556/05 (2020.02); B60W 2556/45 (2020.02)] 67 Claims
OG exemplary drawing
 
1. A profiling system configured to be used in cooperation with a vehicle, the profiling system including one or more processors and one or more sensors, the one or more processors configured to:
(a) process data collected by the one or more sensors, the data collected by the one or more sensors indicative of a surface traveled by, or adjacent to, the vehicle, the data collected by the profiling system processed by the one or more processors to generate:
inertial profile data; and
running slope profile data;
(b) filter the inertial profile data to remove long wavelength inertial profile data components using a high-pass filter having a high-pass cutoff to obtain select short wavelength inertial profile data components of the inertial profile data;
(c) filter the running slope profile data to remove short wavelength running slope profile data components using a low-pass filter having a low-pass cutoff to obtain select long wavelength running slope profile data components of the running slope profile data;
(d) blend the select short wavelength inertial profile data components from the inertial profile data and the select long wavelength running slope profile data components of the running slope profile data, and
(e) generate a valid surface profile of the surface, without a minimum speed requirement for the vehicle, from the blended select short wavelength inertial profile data components of the inertial profile data and the select long wavelength running slope profile data components of the running slope profile data.