# US 2025/0164518 A1 · Apparatus for estimating legal velocity of vehicle and method for the same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2025/0164518 A1 - Document ID: US20250164518A1 - Status: Published application - Kind: A1 - Application number: 18/634,644 - Filed: 2024-04-12 - Published: 2025-05-22 - Earliest claimed: 2023-11-21 - Assignees: Hyundai Motor Company; Kia Corporation; Kongju National University Industry-University Cooperation Foundation - Applicants: Hyundai Motor Company; Kia Corporation; Kongju National University Industry-University Cooperation Foundation - Inventors: Min Sang SEONG; Jong Seok OH; Gyu Yong HWANG - Web page: https://patentgrep.com/patent/US20250164518A1 ## CPC - G01P 3/00: Measuring linear or angular speed; Measuring differences of linear or angular speeds (G01P5/00 - G01P11/00 take precedence; {direction and speed indication G01P13/045}; counting mechanisms G06M) - G01P 3/44: for measuring angular speed (G01P3/56 takes precedence) - G01P 3/50: for measuring linear speed (G01P3/56 takes precedence) - G01P 15/02: by making use of inertia forces {using solid seismic masses}(G01P15/14 takes precedence) - G01P: MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT (measuring or recording blood flow A61B5/02, A61B8/06; monitoring speed or deceleration of electrically-propelled vehicles B60L3/00; vehicle lighting systems adapted to indicate speed B60Q1/54; determining position or course in navigation, measuring ground distance in geodesy or surveying G01C; combined measuring devices for measuring two or more variables of movement G01C23/00; measuring velocity of sound G01H; measuring velocity of light G01J7/00; measuring direction or velocity of solid objects by reception or emission of radiowaves or other waves and based on propagation effects, e.g. Doppler effect, propagation time, direction of propagation, G01S; measuring speed of nuclear radiation G01T; measuring acceleration of gravity G01V; {measuring or recording the speed of trains B61L23/00; speed indicators incorporated in motor vehicles B60K35/00; measuring frequency or phase G01R; traffic control G08G}) ## Abstract An apparatus for estimating a lateral velocity of a vehicle and a method for the same are provided to estimate the lateral velocity of the vehicle with higher accuracy, and to be applied to an electronic stability program (ESP) device to improve the driving stability of the vehicle, by including a long short-term memory (LSTM) model trained to estimate the lateral velocity of the vehicle, obtaining a longitudinal velocity, a lateral acceleration, and a yaw rate of the vehicle, and estimating the lateral velocity of the vehicle, which corresponds to the longitudinal velocity, the lateral acceleration, and the yaw rate of the vehicle, based on the LSTM model. ## Claims ### Claim 1 An apparatus for estimating a lateral velocity of a vehicle, the apparatus comprising: a storage configured to store a long short-term memory (LSTM) model in a multiple input single output (MISO) type; and a controller operatively connected to the storage and configured to: obtain a longitudinal velocity, a lateral acceleration, and a yaw rate of the vehicle; and estimate the lateral velocity of the vehicle, which corresponds to the longitudinal velocity, the lateral acceleration, and the yaw rate, based on the LSTM model. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein the controller is further configured to: obtain a longitudinal acceleration of the vehicle and determine whether a wheel slip of the vehicle occurs, by use of the longitudinal velocity and the longitudinal acceleration. ### Claim 3 (depends on 2) The apparatus of claim 2, wherein the controller is further configured to: estimate the lateral velocity of the vehicle, based on the longitudinal velocity of the vehicle, the lateral acceleration of the vehicle, and the yaw rate of the vehicle, in response that the wheel slip of the vehicle does not occur. ### Claim 4 (depends on 2) The apparatus of claim 2, wherein the controller is further configured to: estimate a final longitudinal velocity of the vehicle, using the longitudinal velocity of the vehicle and the longitudinal acceleration of the vehicle; and estimate the lateral velocity of the vehicle, based on the final longitudinal velocity, the lateral acceleration, and the yaw rate, in response that the wheel slip of the vehicle occurs. ### Claim 5 (depends on 2) The apparatus of claim 2, wherein the controller is further configured to: determine whether the wheel slip of the vehicle occurs, based on a difference between a variation in the longitudinal velocity and the longitudinal acceleration. ### Claim 6 (depends on 2) The apparatus of claim 2, wherein the controller is further configured to: determine whether the wheel slip of the vehicle occurs, based on a differential value of the longitudinal velocity. ### Claim 7 (depends on 1) The apparatus of claim 1, wherein the controller is further configured to: determine the longitudinal velocity of the vehicle, through a wheel speed sensor operatively connected to the controller. ### Claim 8 (depends on 7) The apparatus of claim 7, wherein the controller is further configured to: determine the longitudinal velocity of the vehicle by applying a tire model of the vehicle to a rotation velocity of a wheel of the vehicle, which is measured through the wheel speed sensor. ### Claim 9 (depends on 1) The apparatus of claim 1, wherein the controller is further configured to: obtain the lateral acceleration and the yaw rate of the vehicle from an inertial measurement unit (IMU) sensor operatively connected to the controller. ### Claim 10 A method for estimating a lateral velocity of a vehicle, the method comprising: storing, by a storage, a long short-term memory (LSTM) model in a multiple input single output (MISO) type; obtaining, by a controller operatively connected to the storage, a longitudinal velocity, a lateral acceleration, and a yaw rate of the vehicle; and estimating, by the controller, the lateral velocity of the vehicle, which corresponds to the longitudinal velocity, the lateral acceleration, and the yaw rate, based on the LSTM model. ### Claim 11 (depends on 10) The method of claim 10, wherein the obtaining of the longitudinal velocity, the lateral acceleration, and the yaw rate of the vehicle includes: obtaining, by the controller, a longitudinal acceleration of the vehicle. ### Claim 12 (depends on 11) The method of claim 11, wherein the estimating of the lateral velocity of the vehicle includes: determining, by the controller, whether a wheel slip of the vehicle occurs, by use of the longitudinal velocity and the longitudinal acceleration; estimating, by the controller, the lateral velocity of the vehicle, based on the longitudinal velocity, the lateral acceleration, and the yaw rate, in response that the wheel slip of the vehicle does not occur; and estimating, by the controller, a final longitudinal velocity of the vehicle, using the longitudinal velocity of the vehicle and the longitudinal acceleration of the vehicle, and estimating the lateral velocity of the vehicle, based on the final longitudinal velocity, the lateral acceleration, and the yaw rate, in response that the wheel slip of the vehicle occurs. ### Claim 13 (depends on 12) The method of claim 12, wherein the determining of whether the wheel slip of the vehicle occurs includes: determining, by the controller, whether the wheel slip of the vehicle occurs, based on a difference between a variation in the longitudinal velocity and the longitudinal acceleration. ### Claim 14 (depends on 12) The method of claim 12, wherein the determining of the whether the wheel slip of the vehicle occurs includes: determining, by the controller, whether the wheel slip of the vehicle occurs, based on a differential value of the longitudinal velocity. ### Claim 15 (depends on 10) The method of claim 10, wherein the obtaining of the longitudinal velocity, the lateral velocity, and the yaw rate of the vehicle includes: determining, by the controller, the longitudinal velocity of the vehicle, through a wheel speed sensor operatively connected to the controller. ### Claim 16 (depends on 15) The method of claim 15, wherein the determining of the longitudinal velocity of the vehicle includes: determining, by the controller, the longitudinal velocity of the vehicle by applying a tire model of the vehicle to a rotation velocity of a wheel of the vehicle, which is measured through a wheel speed sensor operatively connected to the controller. ### Claim 17 (depends on 10) The method of claim 10, wherein the obtaining of the longitudinal velocity, the lateral velocity, and the yaw rate of the vehicle includes: obtaining, by the controller, the lateral acceleration and the yaw rate of the vehicle from an inertial measurement unit (IMU) sensor operatively connected to the controller.