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).
MULTI-FRAME VEHICLE MOTION ESTIMATION USING RADAR AND IMU
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
2025-05-21
Patent
Electronic Resource
English
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
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