Synthesized odometry

A method for synthesized odometry comprising:

• detecting with a plurality of detectors a move event of a vehicle and a stop event of the vehicle;
• generating with an odometry state estimator an estimated odometry state of the vehicle in response to the move event and the stop event;
• forcing with a feedback loop a zero-velocity constraint in the estimated odometry state to correct inaccuracies in an estimated position of the vehicle;
• and
• generating with a low velocity motion controller a speed command that controls a longitudinal motion of the vehicle during an automated parking assist movement based on the estimated odometry state.

A vehicle comprising:

• a plurality of detectors operational to detect a move event of the vehicle and a stop event of the vehicle;
• an electronic control unit coupled to the plurality of detectors, wherein the electronic control unit includes:
• an odometry state estimator operational to generate an estimated odometry state of the vehicle in response to the move event and the stop event;
• a feedback loop operational to force a zero-velocity constraint in the estimated odometry state to correct inaccuracies in an estimated position of the vehicle;
• and
• a low velocity motion controller operational to generate a speed command that controls a longitudinal motion of the vehicle during an automated parking assist movement based on the estimated odometry state;
• and
• a drive system operational to move the vehicle in response to the speed command.