Fail operational vehicle speed estimation through data fusion of 6-DOF IMU, GPS, and radar
US9645250B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 7, 2015 |
| Grant date | May 9, 2017 |
| Priority date | — |
| Expiry date | May 14, 2035 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG08G1/0104
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
A method for providing redundant vehicle speed estimation. The method includes providing sensor output signals from a plurality of primary sensors and providing inertial measurement signals from an inertial measurement unit. The method also includes estimating the vehicle speed in a primary module using the primary sensor signals, and buffering the estimated vehicle speed values from the primary module for a predetermined period of time. The method further includes determining that one or more of the primary sensors or the primary module has failed, and if so, estimating the vehicle speed in a secondary module using the buffered vehicle speed values and the inertial measurement signals. The method can use GPS signal data and/or range data from static objects to improve the estimated vehicle speed in the secondary module if they are available.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.