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US 10,852,141 B2Granted
Methods and systems for combining sensor data to measure vehicle movement
AssigneeTruemotion, Inc.
InventorsBrad Cordova, Sanujit Sahoo, Nicholas Arcolano, John Emhoff
Life of this patent
Estimating the term…
Abstract
Embodiments of the present invention provide systems and methods for combining sensor data to measure vehicle movement. Embodiments may collect vehicle and driving data using sensors of a mobile device of a user, such as a location determination sensor and a movement determination sensor. In some embodiments, the data from the sensors may be combined to more accurately estimate vehicle movement, such as vehicle acceleration.
Claims20
A method for determining acceleration of a vehicle during a trip using a mobile device, the method comprising:
- operating one or more sensors of the mobile device to obtain motion data including acceleration data;
- receiving, by a global positioning system (GPS) receiver of the mobile device, location data corresponding to a location of the vehicle;
- aggregating the motion data and the location data to generate aggregated data;
- modifying the aggregated data using a Kalman filter to improve an efficiency of mobile device by:
- removing, using the Kalman filter, a portion of the aggregated data, wherein a remaining portion of the aggregated data includes a portion of the motion data and a portion of the location data, wherein the remaining portion of the aggregated data is more accurate than the portion of the aggregated data, and wherein using the Kalman filter reduces a rate of depletion of a power store of the mobile device;
- determining, by a processor of the mobile device, a gravity vector based on the portion of the motion data;
- calculating, by the processor, a yaw estimate for the vehicle, wherein the yaw estimate is determined in a direction around an axis aligned with the gravity vector;
- calculating, by the processor, based on the yaw estimate for the vehicle, a first estimate of an extent to which the vehicle is turning;
- and
- determining, by the processor, the acceleration of the vehicle based on the acceleration data and the first estimate of the extent to which the vehicle is turning.
7 more elements
A mobile device operable to determine acceleration of a vehicle, the mobile device comprising:
- a location determination sensor operable to obtain location measurements of the vehicle in which the mobile device is disposed during a trip;
- a movement determination sensor operable to obtain movement measurements of the vehicle;
- and
- an acceleration determination engine comprising:
- a Kalman filter operable to improve an efficiency of the mobile device, wherein the acceleration determination engine is configured use the Kalman filter to:
- aggregate the movement measurements and the location measurements to generate aggregated data;
- and
- remove a portion of the aggregated data, wherein a remaining portion of the aggregated data includes a portion of the movement measurements and a portion of the location measurements, wherein the remaining portion of the aggregated data is more accurate than the portion of the aggregated data, and wherein using the Kalman filter reduces a rate of depletion of a power store of the mobile device;
- a turn identification engine configured to identify a turn in the vehicle based on the portion of the movement measurements or the portion of the location measurements;
- a subset determination engine configured to determine a subset of the portion of the movement measurements that correspond to the turn in the vehicle that was identified by the turn identification engine;
- and
- an acceleration estimation engine configured to remove the subset of the portion of the movement measurements identified by the subset determination engine from the portion of the movement measurements obtained by the movement determination sensor, and determine acceleration of the vehicle based on a remaining portion of the movement measurements.
9 more elements
A method for determining acceleration of a vehicle during a trip, the method comprising:
- receiving, by a global positioning system (GPS) receiver of a mobile device disposed in the vehicle, location data corresponding to a location of the vehicle;
- receiving, by an external information receiver of the mobile device, road map information;
- operating one or more sensors of the mobile device to obtain motion data including acceleration data;
- aggregating the motion data and the location data to generate aggregated data;
- modifying the aggregated data using a Kalman filter to improve an efficiency of mobile device by:
- removing, using the Kalman filter, a portion of the aggregated data, wherein a remaining portion of the aggregated data includes a portion of the motion data and a portion of the location data, wherein the remaining portion of the aggregated data is more accurate than the portion of the aggregated data, and wherein using the Kalman filter reduces a rate of depletion of a power store of the mobile device;
- correlating, by a processor of the mobile device, the portion of the location data with the road map information;
- based on a correlation of the location data with the road map information, determining, by the processor, an estimate of an extent to which the vehicle is turning;
- and
- determining, by the processor, the acceleration of the vehicle based on the portion of the motion data that corresponds to the acceleration data and the estimate of the extent to which the vehicle is turning.
7 more elements
Dependencies are inferred from the claim text.