METHOD, DEVICE AND COMPUTER PROGRAM FOR ESTIMATING A SPEED OF A WHEELED VEHICLE
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United States of America Patent
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Issued Date -
May 30, 2024
app pub date -
Mar 9, 2022
filing date -
Mar 11, 2021
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Abstract
The present invention relates to a method for estimating a speed (v) of movement of a wheeled vehicle, wherein a frequency trajectory (ξt) representative of the speed (v) of a wheel (RO) of the vehicle (VE) in a filtered spectrogram (S(ft, t)) is estimated (E5) as follows: a probability (pZt|ξt) of observation of the trajectory (ft) is estimated (E51) on the basis of a computed amplitude of the filtered spectrogram (S(ft, t)), an a posteriori observation law (pZt|ξt) proportional to the product of the probability (pξ) and of the probability (pξ|Z)′ is estimated (E52), the trajectory (ft) is estimated (E53) on the basis of the law (pξ|Z), and the speed (v) of movement of the wheel of the vehicle is estimated (E6) on the basis of the trajectory (ξt).
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