Wheel-Based Vehicle Velocity Estimation for Noisy Turn Maneuvers
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Solution Overview
Problem
Existing vehicle velocity determination methods are prone to inaccuracies due to noise in sensor data, particularly from steering components, which can lead to unreliable localization and maneuvering.
Innovation Solution
The method estimates vehicle velocity by combining wheel speed and angle data from multiple points on the vehicle, using non-steering variables like yaw rate and vehicle dimensions, and applying optimization techniques such as least squares optimization to minimize measurement noise and outliers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If sensor data from steering components is used to determine vehicle velocity, then velocity can be calculated, but noise and inaccuracies are introduced into the velocity calculation
Solution Approach 1:
The patent extracts and removes steering component data from the velocity calculation process. By identifying that steering sensors introduce noise and inaccuracies, the system excludes this problematic data source while retaining useful information from other sensors such as wheel speed sensors and inertial measurement units, thereby improving overall measurement precision and reliability
Solution Approach 2:
The patent introduces an intermediary optimization process that mediates between raw sensor measurements and final velocity determination. Through optimization techniques, the system processes data from multiple sensors (wheel speeds, inertial measurements) while filtering out noisy steering component data, achieving more reliable velocity calculations that enhance localization accuracy
2Productivity
If steering sensor data is used for velocity determination, then velocity can be obtained, but steering component slippage and traction issues reduce accuracy
Solution Approach 1:
The patent merges data from multiple reliable sensors (wheel speed sensors, inertial measurement units) to determine vehicle velocity, replacing dependence on problematic steering sensors. This combination approach maintains velocity determination efficiency while significantly improving measurement accuracy by compensating for slippage and traction issues through redundant measurement sources
Solution Approach 2:
The patent implements feedback mechanisms where velocity estimates from multiple sensors are continuously compared and refined through optimization. The system uses feedback from wheel speed measurements and inertial data to correct and validate velocity determinations, ensuring high accuracy even when individual sensors experience slippage or traction variations
Data Source
AI summary
Techniques are described for using variables associated with vehicle wheels (e.g., linear velocity at a wheel and orientation of the wheel) to estimate velocity of a vehicle during a turn maneuver. In examples of the disclosure, in association with one or more wheels, a wheel orientation during the maneuver and a linear speed during the maneuver may be determined, and well as a yaw rate (e.g., from an inertial measurement unit, gyroscope, etc.) of the vehicle. Examples of the present disclosure include, based on the variables associated with the wheel(s) and the yaw rate associated with the turn maneuver, estimating a vehicle velocity, which may be used by various downstream components, such as to determine or update a pose of a vehicle as part of a localization operation.