Patent ID: 9701289
Date: 2017-07-11
CPC Classifications: B60T

Claim:
1. A vehicle reference speed determination method, comprising the steps of: receiving, by a vehicle controller, sensor signals from vehicle sensors; determining, by a first stochastic estimator of the vehicle controller, angular speeds of wheels on a first axle of the vehicle based at least in part on the sensor signals; determining, by a second stochastic estimator of the vehicle controller, angular speeds of wheels on a second axle of the vehicle based at least in part on the sensor signals; determining, by a third stochastic estimator of the vehicle controller, a speed of the vehicle by fusing driving state signals in a fusion model while incorporating respective weighting factors, the driving state signals based at least in part on the angular speeds of the wheels on the first axle and the second axle wherein the stochastic estimators are selected in accordance with a physical model based on a behavior of the vehicle.