Velocity estimation
AssigneeNira Dynamics AB
InventorsRickard Karlsson, Fredrik Gustafsson
Life of this patent
Estimating the term…
Abstract
The present disclosure relates to the estimation of a velocity of a first object using accelerometer signals, indicating an acceleration of the first object and/or a second object coupled to a first object. To this end, a characteristic frequency in the accelerometer signal spectrum may be determined, preferably by applying a parametric model or by performing a spectrum analysis, and used as a basis to estimate the velocity of the first object based on the determined characteristic frequency. The characteristic frequency may be determined by identifying the frequency having the maximum spectral amplitude or by identifying the fundamental frequency or a particular harmonic in the spectrum.
Claims11
A method of estimating a velocity of a vehicle, the vehicle being a wheeled vehicle, comprising:
- determining a characteristic frequency in accelerometer signals, which indicate an acceleration of a second object coupled to the vehicle, wherein the characteristic frequency is related to a relational frequency of a wheel of the vehicle, and
- estimating the velocity of the vehicle based on the determined characteristic frequency,
- the vehicle comprising a car or truck,
- the second object is an electronic device in the vehicle, coupled to the vehicle and movable together with said vehicle, and
- the determining comprises:
- performing a frequency spectrum analysis of accelerometer signals to obtain an accelerometer signal spectrum, and determining the characteristic frequency in the accelerometer signal spectrum, or
- applying a model to the accelerometer signals to obtain an estimation output, and determining the characteristic frequency in the estimation output.
A computer program product including program code configured to, when executed by a computing device, to carry out a method of estimating a velocity of a vehicle, the vehicle being a wheeled vehicle, comprising:
- determining a characteristic frequency in accelerometer signals, which indicate an acceleration of a second object coupled to the vehicle, wherein the characteristic frequency is related to a rotational frequency of a wheel of the vehicle, and
- estimating the velocity of the vehicle based on the determined characteristic frequency,
- the vehicle comprising a car or a truck,
- the second object is an electronic device in the vehicle, coupled to the vehicle and movable together with said vehicle, and
- the determining comprises:
- performing a frequency spectrum analysis of accelerometer signals to obtain an accelerometer signal spectrum, and determining the characteristic frequency in the accelerometer signal spectrum, or
- applying a model to the accelerometer signals to obtain an estimation output, and determining the characteristic frequency in the estimation output.
A system to estimate a velocity of a vehicle, the vehicle being a wheeled vehicle, comprising a velocity estimation processing part configured to:
- determine a characteristic frequency in accelerometer signals, which indicate an acceleration of a second object coupled to the vehicle, wherein the characteristic frequency is related to a rotational frequency of a wheel of the vehicle, and
- estimate the velocity of the vehicle based on the determined characteristic frequency,
- the vehicle comprising a car or a truck,
- the second object is an electronic device in the vehicle, coupled to the vehicle and movable together with said vehicle, and
- the velocity estimating processing part configured to determine the characteristic frequency in acceleration signals further comprises the processing part configured to:
- perform a frequency spectrum analysis of accelerometer signals to obtain an accelerometer signal spectrum, and determining the characteristic frequency in the accelerometer signal spectrum,
- applying a model to the accelerometer signals to obtain an estimation output, and determining the characteristic frequency in the estimation output.
Dependencies are inferred from the claim text.