# US 2026/0097773 A1 · System and method for real time verification of motion estimation via map plausible localization > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2026/0097773 A1 - Document ID: US20260097773A1 - Status: Published application - Kind: A1 - Application number: 18/907,000 - Filed: 2024-10-04 - Published: 2026-04-09 - Earliest claimed: 2024-10-04 - Assignees: TORC Robotics, Inc. - Applicants: Torc Robotics, Inc. - Inventors: Joseph Allan Stamenkovich - Web page: https://patentgrep.com/patent/US20260097773A1 ## CPC - B60W 40/105: Speed - G01C 21/30: Map- or contour-matching - B60W 60/001: {Planning or execution of driving tasks} - B60W 60/005: {Handover processes (Handing over between remote control and on-board control or handing over between remote control arrangements G05D1/227)} - G01C 21/165: {combined with non-inertial navigation instruments} - G01C 21/28: with correlation of data from several navigational instruments - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2420/408: Radar; Laser, e.g. lidar - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) ## Abstract A system including an internal sensor configured to generate first sensor data, an external perception sensor configured to generate second sensor data, at least one memory configured to store computer executable instructions, and at least one processor is disclosed. The at least one processor is coupled to the internal sensor, the external perception sensor, and the at least one memory. The at least one processor is configured to execute the computer executable instructions to: (i) compute a first velocity output based upon the first sensor data; (ii) compute a second velocity output based upon the second sensor data; (iii) compute a relative velocity between the first velocity output and the second velocity output; (iv) determine the relative velocity is outside a predetermined threshold value; and (v) perform an intervening action in response to the determining. ## Claims ### Claim 1 A system comprising: an internal sensor configured to generate first sensor data; an external perception sensor configured to generate second sensor data; at least one memory configured to store computer executable instructions; and at least one processor coupled to the internal sensor, the external perception sensor, and the at least one memory, and configured to execute the computer executable instructions to: compute a first velocity output based upon the first sensor data; compute a second velocity output based upon the second sensor data; compute a relative velocity between the first velocity output and the second velocity output; determine the relative velocity is outside a predetermined threshold value; and perform an intervening action in response to the determining. ### Claim 2 (depends on 1) The system of claim 1, wherein the internal sensor includes an accelerometer, an inertial measurement unit (IMU) sensor, or an odometer. ### Claim 3 (depends on 1) The system of claim 1, wherein the external perception sensor includes a camera sensor, a light detection and ranging (LiDAR) sensor, or a radio detection and ranging (RADAR) sensor. ### Claim 4 (depends on 1) The system of claim 1, wherein the intervening action is performed by switching from an autonomous vehicle mode to a semi-autonomous vehicle mode or a non-autonomous vehicle mode. ### Claim 5 (depends on 1) The system of claim 1, wherein the intervening action is performed by driving the autonomous vehicle to a safe stop. ### Claim 6 (depends on 1) The system of claim 1, wherein the intervening action is performed by performing motion estimation using a map localization algorithm based upon the sensor data of the one or more external perception sensors. ### Claim 7 (depends on 1) The system of claim 1, wherein the at least one processor is further configured to execute the computer executable instructions to: determine an angular difference between the first velocity output and the second velocity output; and perform the intervening action in response to the determining that the angular difference is greater than a predetermined angular difference. ### Claim 8 An autonomous vehicle comprising: an internal sensor configured to generate first sensor data; an external perception sensor configured to generate second sensor data; at least one memory configured to store computer executable instructions; and at least one processor coupled to the internal sensor, the external perception sensor, and the at least one memory, and configured to execute the computer executable instructions to: compute a first velocity output based upon the first sensor data; compute a second velocity output based upon the second sensor data; compute a relative velocity between the first velocity output and the second velocity output; determine the relative velocity is outside a predetermined threshold value; and perform an intervening action in response to the determining. ### Claim 9 (depends on 8) The autonomous vehicle of claim 8, wherein the internal sensor includes an accelerometer, an inertial measurement unit (IMU) sensor, or an odometer. ### Claim 10 (depends on 8) The autonomous vehicle of claim 8, wherein the external perception sensor includes a camera sensor, a light detection and ranging (LiDAR) sensor, or a radio detection and ranging (RADAR) sensor. ### Claim 11 (depends on 8) The autonomous vehicle of claim 8, wherein the intervening action is performed by switching from an autonomous vehicle mode to a semi-autonomous vehicle mode or a non-autonomous vehicle mode. ### Claim 12 (depends on 1) The autonomous vehicle of claim 1, wherein the intervening action is performed by driving the autonomous vehicle to a safe stop. ### Claim 13 (depends on 1) The autonomous vehicle of claim 1, wherein the intervening action is performed by performing motion estimation using a map localization algorithm based upon the sensor data of the one or more external perception sensors. ### Claim 14 (depends on 1) The autonomous vehicle of claim 1, wherein the at least one processor is further configured to execute the computer executable instructions to: determine an angular difference between the first velocity output and the second velocity output; and perform the intervening action in response to the determining that the angular difference is greater than a predetermined angular difference. ### Claim 15 A computer-implemented method comprising: computing a first velocity output based upon first sensor data, the first sensor data is generated using an internal sensor; computing a second velocity output based upon second sensor data, the second sensor is generated using an external perception sensor; computing a relative velocity between the first velocity output and the second velocity output; determining the relative velocity is outside a predetermined threshold value; and performing an intervening action in response to the determining. ### Claim 16 (depends on 15) The computer-implemented method of claim 15, wherein: the internal sensor includes an accelerometer, an inertial measurement unit (IMU) sensor, or an odometer; and the external perception sensor includes a camera sensor, a light detection and ranging (LiDAR) sensor, or a radio detection and ranging (RADAR) sensor. ### Claim 17 (depends on 15) The computer-implemented method of claim 15, wherein performing the intervening action comprises switching from an autonomous vehicle mode to a semi-autonomous vehicle mode or a non-autonomous vehicle mode. ### Claim 18 (depends on 15) The computer-implemented method of claim 15, wherein performing the intervening action comprises driving the autonomous vehicle to a safe stop. ### Claim 19 (depends on 15) The computer-implemented method of claim 15, wherein performing the intervening action comprises performing motion estimation using a map localization algorithm based upon the sensor data of the one or more external perception sensors. ### Claim 20 (depends on 15) The computer-implemented method of claim 15, further comprising: determining an angular difference between the first velocity output and the second velocity output; and performing the intervening action in response to the determining that the angular difference is greater than a predetermined angular difference.