METHOD FOR MOTION ESTIMATION IN VEHICLE, CORRESPONDING APPARATUS AND COMPUTER PROGRAM PRODUCT

• Main Authors: PALELLA NICOLA MATTEO, MURRA RAJASHEKAR, COLOMBO LEONARDO, DONADEL, ALAIN, PHILIPP JAN, MAHAVEER JAIN
• Format: Patent
• Language: Chinese; English
• Published: 11.03.2022
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; GYROSCOPIC INSTRUMENTS; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; SURVEYING; TESTING

The present disclosure provides a method for motion estimation in a vehicle, a corresponding apparatus and a computer program product. A system includes an inertial sensor and a GPS. The system generates a first estimated vehicle speed based on the motion data and the positioning data, generates a second estimated vehicle speed based on the processed motion data and the first estimated vehicle speed, and generate a fused dataset indicative of the location, speed, and attitude of the vehicle based on the processed motion data, the location data, and the second estimated vehicle speed. Generating the second estimated vehicle speed includes: filtering the motion data; transforming the filtered motion data in the frequency domain based on the first estimated vehicle speed to generate a spectral power density signal; generating an estimated wheel angular frequency and an estimated wheel size based on the spectral power density signal; and generating a second estimated vehicle speed based on the estimated wheel ang