{
  "$type": "site.standard.document",
  "description": "A grade angle estimation system for estimating a grade angle of a roadway that a vehicle is driving along includes one or more controllers. The one or more controllers include one or more processors that execute instructions to receive three-dimensional map data of the roadway and measurements…",
  "path": "/patents/1378378",
  "publishedAt": "2026-02-05T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W40/076",
    "GM Global Technology Operations LLC"
  ],
  "textContent": "A grade angle estimation system for estimating a grade angle of a roadway that a vehicle is driving along includes one or more controllers. The one or more controllers include one or more processors that execute instructions to receive three-dimensional map data of the roadway and measurements indicating a grade angle of the roadway collected by an inertial measurement unit (IMU). The one or more controllers determine an IMU-based grade angle based on the measurements received by the IMU and compare an absolute value of the IMU-based grade angle with a threshold grade value. In response to determining the absolute value of the IMU-based grade angle is greater than the threshold grade value, the one or more controllers set the grade angle equal to the IMU-based grade angle.",
  "title": "GRADE ANGLE ESTIMATION SYSTEM BASED ON THREE-DIMENSIONAL MAP DATA"
}