US 12,291,243 B2
Systematic approach towards system identification based yaw rate estimation with low-cost IMU+GPS units
Nirav Atul Shah, Santa Clara, CA (US); Kshitij Kumbar, Fremont, CA (US); and Kamuran Turkoglu, San Jose, CA (US)
Filed by Ridecell, Inc., San Francisco, CA (US)
Filed on Apr. 6, 2022, as Appl. No. 17/714,789.
Claims priority of provisional application 63/171,947, filed on Apr. 7, 2021.
Prior Publication US 2022/0332352 A1, Oct. 20, 2022
Int. Cl. B60W 60/00 (2020.01); B60W 50/00 (2006.01); G05B 17/02 (2006.01); G07C 5/02 (2006.01)
CPC B60W 60/0027 (2020.02) [B60W 50/00 (2013.01); G05B 17/02 (2013.01); G07C 5/02 (2013.01); B60W 2050/0028 (2013.01); B60W 2510/20 (2013.01); B60W 2520/06 (2013.01); B60W 2520/14 (2013.01); B60W 2554/4042 (2020.02)] 22 Claims
OG exemplary drawing
 
1. A method for causing a desired trajectory change in a target vehicle, said method comprising:
providing a source vehicle being at least partially capable of autonomous driving, said source vehicle including a first inertial measurement unit (IMU) configured to measure values of a dynamic attribute associated with motion of said source vehicle;
providing a first set of control instructions including control values of a control variable, said values of said dynamic attribute depending at least indirectly on said control values of said control variable;
measuring particular values of said dynamic attribute during application of said control instructions to a first control system of said source vehicle during a particular time frame during which said source vehicle is in motion;
identifying a first relationship between said particular values of said dynamic attribute and corresponding control values of said control variable of said source vehicle;
generating a model based at least in part on said first relationship, said model being configured to map said particular values of said dynamic attribute to said corresponding control values of said control variable;
determining said desired trajectory change for said target vehicle, said target vehicle being at least partially capable of autonomous driving and said desired trajectory change being defined by at least a subset of said particular values of said dynamic attribute;
using said model to generate a second set of control instructions including a subset of said control values of said control variable, said second set of control instructions being generated based at least in part on said subset of said particular values of said dynamic attribute; and
providing said second set of control instructions to a second control system of said target vehicle to execute said desired trajectory change.