Methods and Apparatus for Providing State Estimation in Autonomous Vehicles
AssigneeNuro, Inc.
InventorsYin WANG, Paul Michael WHITE, Matthew Jeremy SARETT, William Campbell MARTIN
Life of this patent
Estimating the term…
Abstract
According to one aspect, a method includes obtaining, at a first unit, a first signal, and storing an indication of an arrival time of the first signal in a register of the first unit. The method also includes obtaining a digital signal to be provided to a controller area network (CAN) circuit system, the CAN circuit system being included in the first unit, adding the indication to the digital signal, wherein adding the indication to the digital signal creates an updated digital signal, and providing the updated digital signal to the CAN circuit system.
Claims20
A method comprising:
- obtaining, at a first unit, a first signal;
- storing an indication of an arrival time of the first signal in a register of the first unit;
- obtaining a digital signal to be provided to a controller area network (CAN) circuit system, the CAN circuit system being included in the first unit;
- adding the indication to the digital signal, wherein adding the indication to the digital signal creates an updated digital signal;
- and
- providing the updated digital signal to the CAN circuit system.
An apparatus comprising:
- a first unit, the first unit configured to provide a first signal;
- and
- a second unit, the second unit configured to obtain the first signal and to determine a timestamp based on the first signal, the second unit further configured to obtain a second signal and to add the timestamp to the second signal to create an updated second signal, wherein the second unit provides the updated second signal to the first unit.
The apparatus of claim 10 wherein the apparatus is a vehicle, the first unit is a vehicle control unit, and the second unit is a traction motor controller.
A method comprising:
- obtaining, at a first unit, a first signal, the first signal being of an analog format;
- converting, at a digital signal processor of the first unit, the first signal to a second signal the second signal having a digital format;
- obtaining a timestamp, the timestamp being associated with a time of arrival of a third signal at the first unit;
- and
- creating an updated second signal, wherein the updated second signal includes the second signal and the timestamp, and wherein the updated second signal is provided to a controller area network (CAN) circuit system of the first unit.
Dependencies are inferred from the claim text.