A computer-implemented method for controlling motion of a vehicle (100, 700), the method comprisingconfiguring (S1) a ground speed radar system (201-206, 500, 600) arranged to measure motion of the vehicle (100, 700) relative to a ground surface (101) supporting the vehicle (100, 700) in a ground surface reference frame, and an inertial measurement unit, IMU, system (210) arranged to measure motion of the vehicle (100, 700) in a vehicle reference frame,obtaining (S2) radar data (θ̇r,Vr) from the radar system and IMU data (ω,a) from the IMU system,determining (S3) motion by the vehicle (100, 700) in the ground surface (101) reference frame based on the radar data (θ̇r,Vr),determining (S4) motion by the vehicle (100, 700) in the vehicle reference frame based on the IMU data (ω, a),identifying (S5) an orientation of the ground surface (101) relative to a horizontal plane, based on joint processing of the radar data (θ̇r,Vr) and on the IMU data (ω,a), and controlling (S7) the motion of the vehicle (100, 700) based at least in part on the orientation of the ground surface (101) relative to gravity (g).


    Access

    Download


    Export, share and cite



    Title :

    MULTI-FRAME VEHICLE MOTION ESTIMATION USING RADAR AND IMU


    Additional title:

    MEHRRAHMEN-FAHRZEUGBEWEGUNGSSCHÄTZUNG UNTER VERWENDUNG VON RADAR UND IMU
    ESTIMATION DE MOUVEMENT DE VÉHICULE À CADRES MULTIPLES À L'AIDE D'UN RADAR ET D'UNE IMU


    Contributors:

    Publication date :

    2025-05-21


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



    MULTI-FRAME VEHICLE MOTION ESTIMATION USING RADAR AND IMU

    JONASSON MATS / RYDSTRÖM MATS | European Patent Office | 2025

    Free access

    Vehicle motion estimation enhancement with radar data

    SONG XIAOFENG F / TAN HUALIN / ZENG SHUQING | European Patent Office | 2018

    Free access

    Predictive 3D search algorithm for multi-frame motion estimation

    Lim, Hong Yin / Kassim, A.A. / With, de, P.H.N. | BASE | 2008

    Free access

    Instantaneous ego-motion estimation using Doppler radar

    Kellner, Dominik / Barjenbruch, Michael / Klappstein, Jens et al. | IEEE | 2013


    Multi-frame Pel-recursive Motion Estimation for Video Image Interpolation

    Huang, J. / Mersereau, R. M. / IEEE; Signal Processing Society | British Library Conference Proceedings | 1994