US 12,716,726 B2Granted

Radar-based model for vehicle odometry estimation

AssigneeGM Global Technology Operations LLC

InventorsMohammadali Shahriari, Puneet Bagga, Praneeth Nelapati, Hassan Askari, Matan Yeger

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Abstract

A method for odometry estimation includes receiving a first sensor data and a second sensor data. The first sensor data is generated by an inertial measurement unit (IMU) of the vehicle, a wheel speed sensor (WSS), and a steering wheel angle sensor (SAS) of the vehicle. The second sensor data is generated by a radar of the vehicle. The method further includes determining an initial longitudinal position, an initial lateral position, and an initial heading of the vehicle using the first sensor data. The method further includes determining a longitudinal position error, a lateral position error, and a heading error of the vehicle using the second sensor data. Moreover, the method includes correcting the initial longitudinal position, the initial lateral position, and the initial heading of the vehicle using the longitudinal position error, the lateral position error, and the heading error.

Claims20

Dependent claims

A method for determining a vehicle odometry, comprising:

receiving, by a controller of a vehicle, a first sensor data;
receiving, by the controller of the vehicle, a second sensor data;
determining, by the controller of the vehicle, an initial longitudinal position, an initial lateral position, and an initial heading of the vehicle using the first sensor data, wherein the first sensor data is generated by an inertial measurement unit (IMU) of the vehicle, a wheel speed sensor (WSS), and a steering wheel angle sensor (SAS) of the vehicle;
determining, by the controller of the vehicle, a longitudinal position error defined by the equation:
ex=vs(1)·dt−, a lateral position error defined by the equation:
ey=vs(2)·dt−, and a heading error of the vehicle defined by the equation
e
ψ
=
atan
⁢
2
⁢
(
v
s
(
2
)
v
s
(
1
)
)
-
using the second sensor data, wherein the second sensor data is generated by a radar of the vehicle, vs is a scene velocity of the vehicle provided by the radar, ex is the longitudinal position error of the vehicle, ey is the lateral position error of the vehicle, eψ is the heading error of the vehicle, is a change in the initial longitudinal position with uncertainty, is a change in the initial lateral position with uncertainty, is a change in the heading with uncertainty, and t is a point in time;
correcting the initial longitudinal position, the initial lateral position, and the initial heading of the vehicle using the longitudinal position error, the lateral position error, and the heading error, respectively, thereby generating a corrected longitudinal position, a corrected lateral position, and a corrected heading of the vehicle within an odometry system of the vehicle based on the longitudinal position error, the lateral position error, and the heading error;
and
controlling the vehicle using the corrected longitudinal position, the corrected lateral position, and the corrected heading.

27 more elements

A system, comprising:

a plurality of sensors, wherein the plurality of sensors includes an inertial measurement unit (IMU), a wheel speed sensor (WSS), a steering wheel angle sensor (SAS), and a radar;
a controller in communication with the plurality of sensors, wherein the controller is programmed to:
receive a first sensor data, wherein the first sensor data is generated by the IMU, the WSS, and SAS;
receive a second sensor data, wherein the second sensor data is generated by the radar of a vehicle;
determine an initial longitudinal position, an initial lateral position, and an initial heading of a vehicle using the first sensor data;
determine a longitudinal position error defined by the equation:
ex=vs(1)·dt−, a lateral position error defined by the equation:
ey=vs(2)·dt−, and a heading error of the vehicle defined by the equation:
e
ψ
=
atan
⁢
2
⁢
(
v
s
(
2
)
v
s
(
1
)
)
-
using the second sensor data, wherein the second sensor data is generated by the radar, vs is a provided scene velocity of the vehicle provided by the radar, ex is the longitudinal position error of the vehicle, ey is the lateral position error of the vehicle, eψ is the heading error of the vehicle, is a change in the initial longitudinal position with uncertainty, is a change in the initial lateral position with uncertainty, is a change in the heading with uncertainty, and t is a point in time;
correct the initial longitudinal position, the initial lateral position, and the initial heading of the vehicle using the longitudinal position error, the lateral position error, and the heading error, respectively, thereby generating a corrected longitudinal position, a corrected lateral position, and a corrected heading of the vehicle within an odometry system of the vehicle based on the longitudinal position error, the lateral position error, and the heading error;
and
control the vehicle using the corrected longitudinal position, the corrected lateral position, and the corrected heading.

29 more elements

A vehicle, comprising:

a vehicle body;
a plurality of sensors coupled to the vehicle body, wherein the plurality of sensors includes an inertial measurement unit (IMU), a wheel speed sensor (WSS), a steering wheel angle sensor (SAS), and a radar;
a controller in communication with the plurality of sensors, wherein the controller is coupled to the vehicle body, and the controller is programmed to:
receive a first sensor data, wherein the first sensor data is generated by the IMU, the WSS, and SAS;
receive a second sensor data, wherein the second sensor data is generated by the radar of the vehicle;
determine an initial longitudinal position, an initial lateral position, and an initial heading of a vehicle using the first sensor data;
determine a longitudinal position error defined by the equation:
ex=vs(1)·dt−, a lateral position error defined by the equation:
ey=vs(2)·dt−, and a heading error of the vehicle defined by the equation:
e
ψ
=
atan
⁢
2
⁢
(
v
s
(
2
)
v
s
(
1
)
)
-
using the second sensor data, wherein the second sensor data is generated by the radar, vs is a provided scene velocity of the vehicle provided by the radar, ex is the longitudinal position error of the vehicle, ey is the lateral position error of the vehicle, eψ is the heading error of the vehicle, is a change in the initial longitudinal position with uncertainty, is a change in the initial lateral position with uncertainty, is a change in the heading with uncertainty, and t is a point in time;
correct the initial longitudinal position, the initial lateral position, and the initial heading of the vehicle using the longitudinal position error, the lateral position error, and the heading error, respectively, thereby generating a corrected longitudinal position, a corrected lateral position, and a corrected heading of the vehicle within an odometry system of the vehicle based on the longitudinal position error, the lateral position error, and the heading error;
and
control the vehicle using the corrected longitudinal position, the corrected lateral position, and the corrected heading.

30 more elements

Dependencies are inferred from the claim text.

Facts

Application: 18/828,242Filed 9 Sep 2024
Published: US 2026/0071874 A112 Mar 2026
Granted: 25 Aug 2026
Term ends: Not estimatedThe source records don’t support an estimate.

Classification17 codes

G01C 21/165
By integrating acceleration or speed, i.e. inertial navigation: combined with non-inertial navigation instruments
G01C 21/1652
Combined with non-inertial navigation instruments: with ranging devices, e.g. LIDAR or RADAR
B60W 40/105
Related to vehicle motion: speed
B60W 50/0205
Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures: diagnosing or detecting failures;…