REAL-TIME RELIABILITY ASSESSMENT METHOD TO ENHANCE ROBUSTNESS OF DATA-FUSION BASED VEHICLE SPEED ESTIMATION

A method for estimating a lateral velocity of a vehicle includes receiving sensor data from a sensor of the vehicle, determining a physics-based longitudinal velocity estimation of the vehicle using a physics-based model and the sensor data, determining a data-driven longitudinal velocity estimation of the vehicle using a first neural network and the sensor data, determining, using a second neural network, which of the physics-based longitudinal velocity estimation and the data-driven longitudinal velocity estimation is more reliable to determine a selected longitudinal velocity estimation, determining the lateral velocity of the vehicle using the selected longitudinal velocity estimation, and controlling the vehicle based on the lateral velocity.