US 12,377,701 B2
System and method for estimating lateral acceleration
Nicholas James Solomon, Leamington Spa (GB)
Assigned to ClearMotion, Inc., Billerica, MA (US)
Appl. No. 17/925,039
Filed by ClearMotion, Inc., Billerica, MA (US)
PCT Filed May 13, 2021, PCT No. PCT/US2021/032291
§ 371(c)(1), (2) Date Nov. 14, 2022,
PCT Pub. No. WO2021/231758, PCT Pub. Date Nov. 18, 2021.
Claims priority of provisional application 63/025,578, filed on May 15, 2020.
Prior Publication US 2023/0182523 A1, Jun. 15, 2023
Int. Cl. B60G 17/018 (2006.01); B60G 17/019 (2006.01)
CPC B60G 17/0182 (2013.01) [B60G 17/01908 (2013.01); B60G 2400/104 (2013.01)] 24 Claims
OG exemplary drawing
 
1. A method for estimating a lateral acceleration of a vehicle, the method comprising:
generating a first signal based on a measurement from a sensor at time T;
computing the lateral acceleration of the vehicle with a model at the time T;
generating a second signal based on the computation at the time T;
generating an error signal based on a difference between the first signal and the second signal at the time T;
filtering the error signal to generate a filtered signal; and
estimating the lateral acceleration based on a sum of the filtered signal and the second signal.