650 results about "Wheel speed sensor" patented technology

The invention relates to the field of vehicle braking fault detection, in particular to a real-time fault detection method for a vehicle electronic braking system, which comprises the following steps of: acquiring vehicle driving state data through a vehicle-mounted sensor network and an electronic control unit, calculating filtered residual data of a target wheel speed sensor, and calculating the filtered residual data of the target wheel speed sensor; establishing calibration reference parameters of the health state; performing conjoint analysis on the acceleration data and the residual fluctuation data of the vehicle to obtain a dynamic response adaptive adjustment factor of the vehicle; obtaining a tiny drift confirmation factor of the vehicle through the candidate residual error in the low dynamic interference state of the vehicle; continuous fault judgment is performed by combining the dynamic response adjustment factor and the tiny drift confirmation factor of the vehicle, and the fault judgment result of the wheel speed sensor is obtained, so that the accuracy and sensitivity of fault detection when tiny systematic deviation occurs to the wheel speed sensor are improved.

A bicycle with an electric pedal assist motor capable of driving a chainring independent of cranks includes wheel speed sensors and crank cadence sensors. The wheel speed sensors and the crank cadence sensors measure wheel speed and crank cadence, respectively, and provide the measured wheel speed and crank cadence to a controller of the bicycle. The controller is configured to instruct an assist motor to activate based on the measured wheel speed and / or the measured crank cadence.

The invention discloses a space-ground integrated dynamic traffic flow analysis and road topology reasoning method and device. A cloud server generates and issues real-time traffic information through multi-level processing such as map matching, traffic flow analysis, prediction and early warning and road topology analysis and updating; specifically, firstly, the high-precision positioning and communication capability of a low-orbit satellite is utilized, data fusion of an inertial measurement unit and a wheel speed sensor is combined, and a multi-source fusion algorithm is constructed to improve the positioning precision; secondly, traffic flow dynamic analysis and prediction are carried out based on a Transform interaction analysis model, and real-time updating of a road topological structure is realized at a cloud end by using a clustering algorithm and a graph theory model; finally, the traffic flow and road topology information is sent to related vehicles and a traffic management system, and real-time monitoring, early warning and optimization of the traffic state are achieved. According to the invention, the accuracy and real-time performance of traffic information acquisition, processing and issuing can be effectively improved, and the intelligent level of traffic management and decision making is enhanced.

The invention relates to a method for controlling the stability of a transport vehicle. Comprising the following steps that dynamic parameters of the speed, the acceleration, the steering angle and the sideslip angle of a vehicle are collected through a vehicle sensor comprising an accelerometer, a gyroscope and a wheel speed sensor; in combination with various sensors such as a vehicle-mounted radar, a laser radar and a camera, conditions of wet, slippery, rugged and uneven road surfaces are monitored in real time, and road surface friction coefficient parameters are generated through a data fusion algorithm; according to the dynamic state of the vehicle and the real-time road surface state, the stability of the vehicle is evaluated through a mathematical model, and the potential risk of current instability is calculated; a plurality of stability control modes are preset according to different driving scenes including expressways, mountain roads and wet and slippery roads, and different control parameters and algorithms are adopted in each mode; a sensor including a driver state monitoring system inside a vehicle and external environment data including meteorological data and traffic information are utilized to predict operation behaviors including sudden acceleration and sudden braking of a driver.

The utility model provides a wheel speed sensor signal analysis circuit, which is used for enabling the circuit to be compatible with a standard current type wheel speed sensor and an AK protocol current type wheel speed sensor at the same time, and comprises an overcurrent protection module, a current sampling resistor and a wheel speed signal output module, the overcurrent protection module is used for closing the connection with the wheel speed signal output module when the signal of the wheel speed sensor is short-circuited; the wheel speed signal output module is used for outputting a level signal corresponding to a wheel speed sensor signal; the overcurrent protection module is connected with one end of the current sampling resistor; one end of the current sampling resistor is connected with the wheel speed signal output module; the other end of the current sampling resistor is grounded.

An adaptive variable-structure duct robot motion control method based on environmental sensing. A duct robot is a dual-swing-arm tracked mechanism, and onboard sensing devices include a depth camera, an IMU, a wheel speed sensor and a TOF module. The method comprises: a depth camera capturing an image of the interior of a duct to perform scenario recognition, segmenting planar and curved surfaces in the image on the basis of scenario recognition results, and extracting edge lines of the duct; using the edge lines to calculate the width of a straight duct, the curvature of a curved duct, the angle of a slope and the height of a step, in order to determine the passability of a robot; designing a path planner and a swing arm planner to generate a reference trajectory and a swing arm angle sequence of the robot, performing smoothing processing, and inputting the smoothed reference trajectory and swing arm angle sequence into an MPC motion controller; using data from the depth camera, an IMU and a wheel speed sensor to estimate the position and state of the robot by means of an ESKF algorithm, and inputting estimation results and a collision warning signal from a TOF module into the MPC motion controller in real time; and finally, outputting control signals for a locomotion electric motor and a swing arm electric motor. Thus, the adaptive variable-structure and autonomous motion of a robot in different scenarios is realized.

The invention relates to the technical field of farm irrigation, in particular to a multi-source fusion and V2X networked vehicle high-precision positioning system and method, and the system comprises a vehicle-mounted terminal which integrates the following modules: a multi-source sensor group which comprises a laser radar (LiDAR), a binocular vision camera (BVC), a global positioning system (GPS), an inertial measurement unit (IMU) and a wheel speed sensor; the V2X communication module supports vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) communication and is used for receiving positioning data of an adjacent vehicle and roadside equipment; the system effectively solves the problems that in the prior art, a traditional RTK technology depends on a ground base station, a positioning blind area exists in a signal shielding area, data conflicts are easily caused by independent work of multiple sensors, RTK needs to be covered and supported by dense base stations, and the positioning accuracy is poor. And high-precision positioning cannot be realized in signal shielding scenes such as remote areas, tunnels and mountainous areas, so that an automatic driving function fails.

The invention provides a train attitude precision keeping method and system based on inertial quaternion modeling, and belongs to the technical field of train operation positioning. Through a quaternion modeling train attitude feedback compensation model, auxiliary calibration of a gyroscope is realized by using an accelerometer, and calculation of an inertial attitude is realized; converting the acquired wheel speed sensor information into three-dimensional speed under a navigation coordinate system through attitude information resolved by a quaternion modeling train attitude feedback compensation model, and further integrating to obtain a position; and fusing the speed and position information of the wheel speed sensor after attitude conversion with the speed and position information obtained by inertial navigation dead reckoning to realize error correction of the inertial navigation system. According to the method, the problem that the train state sensing precision is degraded due to the fact that a satellite navigation / inertial navigation system positioning model is difficult to overcome inertial device error accumulation when a satellite fails is solved, the train attitude precision is kept, and then error divergence of a combined positioning system during satellite signal denial is effectively restrained.

The invention relates to the technical field of tire pressure monitoring, in particular to an indirect tire pressure monitoring method and device, a vehicle and a storage medium. The method includes: judging whether a vehicle is in a no-load state based on current mass of the vehicle; if the vehicle is in a no-load state, entering a no-load supervision mode based on a preset no-load correction coefficient and a preset standard frequency, and calculating a standard pulse number of each tire in the mode according to the preset no-load correction coefficient, a gear ratio of the wheel speed sensors of the first front and rear wheel sets and an actual pulse number of each tire; calculating the relative rolling radius characteristic of each tire according to the standard pulse number of each tire; and the relative rolling radius characteristic of each tire is compared with a first preset threshold value, and under the condition that the relative rolling radius characteristic of any tire is larger than the first preset threshold value, it is judged that the corresponding tire of the vehicle is in an underpressure state. Therefore, the problems of missing report and false report in the existing monitoring technology are solved, and the tire pressure monitoring accuracy is improved.

The invention discloses a dynamic adhesion coefficient correction evaluation method and system based on multi-source data fusion, and belongs to the field of vehicle electronic control, and the method comprises the following steps: S1, carrying out the data collection of a multi-source sensor; s2, calculating a slip rate based on data collected by a wheel speed sensor, calculating a dynamic compensation factor based on data collected by a suspension load sensor, correcting a centroid offset error based on data collected by an inertial sensor, and triggering segmented compensation based on data collected by a brake disc temperature sensor; s3, calculating a basic adhesion coefficient based on the slip rate; s4, correcting the basic adhesion coefficient based on the dynamic compensation factor and the corrected centroid offset; and S5, the basic braking force and the basic torque distributed by the ESC system are corrected. By adopting the dynamic adhesion coefficient correction evaluation method and system based on multi-source data fusion, high-precision correction of the dynamic adhesion coefficient and intelligent adjustment of the braking force are realized through multi-source sensor data fusion and ESC system integrated design.

The invention discloses a wheel speed calculation method, device and system and a storage medium, which are used for ensuring that a vehicle driving anti-skid control function is normal when a wheel speed sensor of a tire fails. The method comprises the steps that when it is detected that a wheel speed sensor corresponding to a first tire of a vehicle fails, the driving state of the vehicle is obtained; when the driving state of the vehicle represents that the vehicle is in the starting state, the acceleration integral speed is determined, and the acceleration integral speed is the integral speed obtained by conducting integration according to the longitudinal acceleration of the vehicle; substituting the acceleration integral speed into a first preset formula for calculation, and taking a calculation result of the first preset formula as a first calculation value of the current wheel speed of the first tire; and determining the first calculated value of the current wheel speed of the first tire as the final value of the current wheel speed of the first tire. By adopting the scheme provided by the invention, when the wheel speed sensor of the first tire fails, the normal driving anti-skid control function of the vehicle is ensured.

The invention provides a suspension control method and device, a vehicle and a storage medium. According to the embodiment of the invention, a first wheel rotating speed of the vehicle is obtained through a wheel speed sensor, and a first vehicle body vertical speed of the vehicle is obtained through a sprung sensor; according to the first wheel rotating speed and the first vehicle body vertical speed, a control current corresponding to a shock absorber is determined; and generating a current signal corresponding to the control current, and sending the current signal to a shock absorber, so that the shock absorber performs shock absorption control on the active suspension according to the current signal. The suspension control method provided by the embodiment of the invention does not depend on an unsprung sensor, so that the cost of the sensor in the embodiment of the invention is reduced, the problem of control strategy failure caused by the delay of the shock absorber under the condition that the unsprung speed frequency is too high is avoided, and the reliability of the embodiment of the invention is improved.

The embodiment of the invention provides a signal processing circuit, a signal processing system and a mobile carrier, which can be particularly used for processing signals of a wheel speed sensor. The signal processing circuit comprises a signal screening circuit, and the signal screening circuit comprises a first comparison element, a second comparison element and a first switch assembly. The first comparison element is used for outputting a first signal larger than a first threshold value, the second comparison element is used for outputting a second signal larger than a second threshold value, and the first signal and the second signal are effective signals of the WSS. When the first signal and the second signal are both output, the first switch assembly is used for outputting effective signals corresponding to two current values in the first signal and the second signal from the first output end and the second output end of the signal screening circuit respectively. Therefore, the circuit is simple, the cost is low, and effective signals with different current values can be screened and output according to wheel speed signals under different protocols.

The utility model discloses a drawer-type core-pulling structure wheel speed sensor injection mold which comprises an upper mold base, a lower mold base, a lower mold base and a plurality of positioning guide columns, wherein the upper mold base is provided with a profiling mold cavity and a plurality of positioning guide columns; a fixed seat, a core-pulling seat and a plurality of positioning guide holes are arranged on the lower die seat, the plurality of positioning guide holes are matched with the plurality of positioning guide columns for positioning, a chip die cavity and a wire positioning groove are formed in the top of the fixed seat, a bushing die cavity is formed in the fixed seat, and an opening communicated with the bushing die cavity is formed in the side surface, facing the core-pulling seat, of the fixed seat. The core pulling seat is horizontally connected with the lower die seat in a sliding mode and can move towards the fixing seat, a lining positioning die core is arranged on the side face, facing the fixing seat, of the core pulling seat, and the lining positioning die core can penetrate through the opening and stretch into the lining die cavity; the injection mold is exquisite and flexible in structure and refined, meets the requirement for large-scale production of small-tonnage machines and has the advantage of reducing energy conservation and energy consumption of the machines, and the development cost can be reduced by about 30%.

The invention relates to a self-adaptive longitudinal vehicle speed estimation method, which comprises the following steps of: establishing detailed vehicle dynamic models, including a vehicle longitudinal dynamic model and a wheel speed dynamic model; a Sage-Husa self-adaptive unscented Kalman filtering algorithm is combined with a vehicle dynamics model, a state equation and an observation equation are designed, the longitudinal vehicle speed of a vehicle serves as a state variable, and observation vectors are constructed through data collected by a wheel speed sensor, an acceleration sensor and the like; divergence calculation is introduced for detecting and correcting divergence phenomena in the filtering process; and on the basis of a self-adaptive mechanism of a Sage-Husa algorithm, the filtering gain is adjusted in real time, and the vehicle speed estimation process is optimized. The improved Sage-Husa adaptive filter can dynamically adjust the filter parameters according to the change of the system state and the difference of noise, detects transient disturbance in combination with divergence calculation, reduces the influence of the transient disturbance on longitudinal vehicle speed estimation, and effectively improves the estimation precision.

The invention discloses a wheel speed estimation method and system under a wheel speed sensor fault, and the method comprises the steps: judging the fault type of a fault sensor when a wheel speed sensor fault occurs; if only the abnormal fault exists, calculating a corrected wheel speed according to other wheel speeds except the maximum wheel speed and the minimum wheel speed in the wheel speeds in the current fault detection period, and calculating an estimated wheel speed of the abnormal sensor in combination with the corrected wheel speed and a previous fault detection period wheel speed corresponding to the abnormal sensor; if the failure type fault exists and the number of the failure type sensors is smaller than the number of the whole vehicle sensors, the average value of the wheel speeds measured by the non-failure type sensors serves as the estimated wheel speed of all the failure type sensors; if the number of the failure type sensors is equal to the number of the whole vehicle sensors, the estimated wheel speed of the failure type sensors is calculated by combining the wheel speed of the last fault detection period corresponding to the failure type sensors and the whole vehicle speed variable quantity of the last fault detection period. The wheel speed loss caused by sensor faults is effectively avoided, and the wheel speed accuracy is improved.

The invention provides a wheel speed detection device and a chip system. The wheel speed detection device comprises a first comparator, a second comparator and a signal analyzer, the first comparator and the second comparator are respectively configured with different reference voltages, and the input end of the first comparator and the input end of the second comparator are used for receiving voltage signals generated by the same wheel speed sensor; and the signal analyzer is used for analyzing the wheel speed information according to the first comparison signal output by the first comparator and the second comparison signal output by the second comparator. Thus, the input signal is subjected to multi-threshold judgment by using a double-comparator structure, so that sensor signals of different current levels can be identified and analyzed uniformly, and compatible processing of sensor signals of multiple protocols is realized. Therefore, the problem that the overall system cost is increased due to hardware redundancy and system complexity increase in a traditional scheme is avoided, and the universality and the integration capacity of the interface module are effectively improved in a low-cost mode.

The invention provides a controller for a vehicle, a motor controller supporting wheel speed indication and the vehicle. The controller is used for controlling operation of an electric vehicle in the running process of the electric vehicle. In the running process of the electric vehicle, when a wheel speed sensor of the electric vehicle is effective, the controller is further used for receiving at least one of a first wheel speed signal from the wheel speed sensor or a second wheel speed signal from the motor controller. And controlling the operation of the electric vehicle according to the wheel speed indicated by at least one of the first wheel speed signal and the second wheel speed signal. When the wheel speed sensor of the electric vehicle fails, the controller is further used for receiving a second wheel speed signal from the motor controller and controlling the electric vehicle to operate according to the wheel speed indicated by the second wheel speed signal. According to the controller, the wheel speed of the wheel can be determined through the wheel speed signal provided by the motor controller when the wheel speed sensor of the wheel fails, the control stability of the controller is higher, and the driving safety is higher.

A vehicle motion management, VMM, system for a heavy-duty vehicle has at least one wheel speed sensor to output a wheel speed signal indicative of a rotation speed of a respective wheel on the vehicle, at least one inertial measurement unit, IMU, to output an IMU signal indicative of an acceleration of the vehicle, a motion estimation function to estimate a vehicle motion state comprising vehicle speed over ground, based at least in part on the wheel speed signal and at least in part on the IMU signal, and a motion support device, MSD, coordination function to coordinate actuation of a plurality of MSDs of the heavy-duty vehicle in dependence of a vehicle motion request and the vehicle motion state. The motion estimation function models an error in the estimated vehicle motion state, and to output a free-rolling request to the MSD coordination function in case the modelled error fails to meet an acceptance criterion. The MSD coordination function reduces a wheel slip set-point of one or more wheels of the heavy-duty vehicle in response to receiving the free-rolling request from the motion estimation function.

An apparatus and a method for manipulating a vehicle are provided. The method comprises the following steps: obtaining point cloud data of a vehicle through a light beam, obtaining an RGB image of the vehicle through a camera, and obtaining a current speed of the vehicle through a wheel speed sensor; obtaining a steering angle using the current speed and a local path associated with the point cloud data; obtaining a steering compensation angle by using the current speed and a lane center line deviation error associated with the RGB image; and obtaining a control command of the vehicle by using the steering angle and the steering compensation angle, and controlling the vehicle to run on the lane according to the control command.

The invention provides a modular multi-shaft redundant braking system and a braking pressure distributed calculation and distribution method thereof. The system comprises an air storage tank, a battery and a plurality of redundant brake units arranged on all axles of the multi-axle vehicle respectively, and each axle of the multi-axle vehicle is independently provided with one redundant brake unit. The shaft redundant brake unit comprises a redundant brake module, and a shaft left wheel brake cylinder, a shaft right wheel brake cylinder, a shaft left wheel speed sensor and a shaft right wheel speed sensor which are respectively connected with the redundant brake module; the redundant braking module is connected with the air storage tank and the battery so as to obtain a braking air source and a working power source. The communication networks of all the redundant brake modules are mutually connected and are connected with a whole vehicle network; the problems that an existing redundant braking system is high in cost and low in redundancy are solved.

A bicycle with an electric pedal assist motor capable of driving a chainring independent of cranks includes wheel speed sensors and crank cadence sensors. The wheel speed sensors and the crank cadence sensors measure wheel speed and crank cadence, respectively, and provide the measured wheel speed and crank cadence to controller of the bicycle. The controller activates motor overdrive based on the measured wheel speed and / or the measured crank cadence.

An integrated electronic brake system includes a main control section configured in a first area to receive one or more of a value from a pedal sensor, a value from a cylinder pressure sensor, a value from a wheel speed sensor, or an EPB signal to perform EPB control and drive a main braking valve and a braking motor for the main braking of a vehicle, and to drive an additional braking valve for the additional braking, a sub-control section configured in a second area to receive one or more of the value from the pedal sensor, the value from the wheel speed sensor, or the EPB signal to perform the EPB control and drive the main braking valve and the braking motor through a bypass circuit, and a connection bus connecting the first and second areas mounted in one box to transfer signals between the main and sub-control sections.

The invention relates to a safety unit (14) for a two-wheeler (10). The safety unit (14) comprises an ABS unit (30) for controlling braking, and a communication unit (34) for communicating with other external devices. The ABS unit (30) comprises a power supply connection (46) for supplying the ABS unit (30) with power, a communication interface (50) via which the ABS unit (30) communicates with other units of the two-wheeler (10), a microprocessor (42a) for processing data and generating braking interventions, and a wheel speed sensor interface (54) for detecting at least one signal from a wheel speed sensor.The communication unit (34) comprises a power supply connection (46) for supplying the communication unit (34) with power, a communication interface (50) via which the communication unit (34) communicates with other units of the two-wheeler (10), a microprocessor (42b) for processing data, a mobile radio communication interface (74) for mobile communication with external units, and / or a satellite positioning unit (70) for determining the position of the two-wheeler (10). The ABS unit (30) and the communication unit (34) are housed in a common housing (38), and both units (30, 34) are connected via a common power supply connection (46) and a communication interface (50).

The invention belongs to the technical field of airplane electromechanical control, and discloses an electric dual-redundancy electro-hydrostatic airplane wheel brake system which comprises a left brake oil cup, a right brake oil cup, a left electric control brake combination valve, a right electric control brake combination valve, a left airplane wheel brake device, a right airplane wheel brake device, a left wheel speed sensor, a right wheel speed sensor and a control box for redundancy switching. The left brake oil cup is connected with a left airplane wheel brake device through a left electric control brake combination valve, the right brake oil cup is connected with a right airplane wheel brake device through a right electric control brake combination valve, and the left electric control brake combination valve and the right electric control brake combination valve are both combinations of piston structures driven by motors and electromagnetic valves. The left electric control brake combination valve and the right electric control brake combination valve are connected with a fly pipe computer through signal lines and are controlled by the fly pipe computer. The left wheel speed sensor and the right wheel speed sensor are used for monitoring the rotating speed of an aircraft left wheel and the rotating speed of an aircraft right wheel respectively; the control box for redundancy switching switches the control relation of the right electric control brake combination valve and the left electric control brake combination valve to the left airplane wheel brake device and the right airplane wheel brake device respectively. The device can realize power telex, adopts pressure closed-loop control, is high in precision, and has the advantages of relatively high integration level, small size, convenience in installation and maintenance and the like. The dual-redundancy design of an electrical part is adopted, redundancy switching is achieved through independent equipment, the reliability of a braking system is guaranteed, synchronous skid resistance can be achieved, and safe operation of an airplane is guaranteed.

The utility model discloses a wheel speed signal processing system, which comprises a sensor driving circuit and a computing unit, the sensor driving circuit comprises at least two integrated circuits, and the integrated circuits are connected with the computing unit and a wheel speed sensor. According to the wheel speed signal processing system, the sensor circuit is combined with a certain controller module in a vehicle, redundancy detection of the wheel speed sensor is achieved through certain control logic, identification of wheel speed signals is not affected by single-point failure in any circuit, and reliability can be improved. The utility model further discloses a vehicle.

The present disclosure relates to a brake system and a method of controlling the same, the brake system including first and second wheel speed sensors respectively installed in wheels of a vehicle, electrohydraulic brakes respectively installed in front wheels of the vehicle, electromechanical brakes (EMBs) respectively installed in rear wheels of the vehicle, and a first controller configured to perform braking control on the electrohydraulic brakes and the electromechanical brakes based on a first front wheel speed signals outputted from the first wheel speed sensors installed in the front wheels, in which when a failure of the first wheel speed sensors installed in the front wheels are identified, the first controller performs the braking control on the electrohydraulic brakes and the electromechanical brakes based on the first rear wheel speed signals outputted from the first wheel speed sensors installed in the rear wheels.

The invention relates to an electric vehicle regenerative braking stability control method and system oriented to a non-standard road surface. The regenerative braking stability control method in the vehicle emergency braking scene comprises the steps that according to information obtained by a wheel speed sensor, in combination with vehicle parameters and the vehicle speed, processing is conducted through a dynamic model, and the relation between the current slip rate and the optimal slip rate is obtained. And inputting the identified slip rate at the peak attachment state moment as a control reference quantity into a model prediction controller, solving a torque required by motor braking in the controller, inputting the torque into a motor control unit, and performing regenerative braking through an electric driving system. On the basis of identifying the slip rate, the method gets rid of the problem of dependence on a tire model existing in most response-based methods, does not need to consider a tire ground model, damping rigidity and other difficult-to-obtain quantities, is not limited by various information acquired by multiple sensors, and is high in accuracy. And the applicability of the method under different working conditions is improved while the identification method is simplified.

A brake system may include a plurality of wheel speed sensors respectively installed in a plurality of wheels of a vehicle, a plurality of hydraulic brake modules related to braking of the plurality of wheels, and a first controller configured to perform braking control on the plurality of hydraulic brake modules in response to at least one of a pedal displacement signal, which corresponds to a movement of a brake pedal, and wheel speed signals outputted from the wheel speed sensors, in which when a failure of the first controller is identified, a second controller, which is provided in a steering system of the vehicle, performs braking control on an electronic parking brake, which is provided in at least one of the plurality of wheels, in response to at least one of an operating signal of an EPB switch, the pedal displacement signal, and the wheel speed signals outputted from the wheel speed sensors.

A vehicle motion management, VMM, system for a heavy-duty vehicle has at least one wheel speed sensor outputs a wheel speed signal indicative of a rotation speed of a respective wheel on the vehicle, at least one inertial measurement unit, IMU, outputs an IMU signal indicative of an acceleration of the vehicle, a motion estimation function estimates a vehicle motion state comprising vehicle speed over ground, SOG, based on the at least one wheel speed signal and on the at least one IMU signal. The motion estimation function estimates a respective SOG error associated with the wheel speed signal as an increasing function of an applied torque to the wheel, and a respective SOG error associated with the IMU signal as an increasing function of a time duration elapsed after calibration of an integrator of the IMU signal. The motion estimation function estimates the vehicle SOG, based on a weighted combination of the at least one wheel speed signal and the at least one IMU signal, where the weights of the weighted combination are determined based on the SOG error associated with the wheel speed signal and on the SOG error associated with the IMU signal.