公开(公告)号：US20230382403A1

公开(公告)日：2023-11-30

申请号：US17824444

申请日：2022-05-25

Applicant: GM Global Technology Operations LLC

Inventor： Hualin Tan ,  Paul Guillermo Otanez ,  SeyedAlireza Kasaiezadeh Mahabadi ,  Bharath Pattipati ,  Ruixing Long ,  Lapo Frascati ,  Giulio Boni

IPC: B60W40/105 ,  B60W40/06 ,  B60W50/02 ,  B60W50/14 ,  G06V20/56

CPC classification number: B60W40/105 ,  B60W40/06 ,  B60W50/0205 ,  B60W50/14 ,  G06V20/588 ,  B60W2050/0083

Abstract: A system for estimating a lateral velocity and a longitudinal velocity of a vehicle includes a plurality of sensors for monitoring data indicative of a travel state of the vehicle and one or more controllers in electronic communication with the plurality of sensors. The one or more controllers executes instructions to receive the data indicative of the travel state of the vehicle from the plurality of sensors. The one or more controllers estimate at least one initial estimated state of the vehicle based on the data indicative of the travel state of the vehicle. The one or more controllers fuse together the data indicative of the travel state of the vehicle with the at least one initial estimated state of the vehicle to determine the lateral velocity and a longitudinal velocity of the vehicle based on a single state estimation scheme.