{
  "$type": "site.standard.document",
  "coverImage": {
    "$type": "blob",
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  "description": "For one embodiment of the present invention, a computer implemented method for determining force disturbance signals for a vehicle is described. The computer implemented method includes obtaining sensor signals from a sensor system of the vehicle to monitor driving operations and to determine…",
  "path": "/patents/964706",
  "publishedAt": "2026-05-26T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W60/001",
    "GM CRUISE HOLDINGS LLC"
  ],
  "textContent": "For one embodiment of the present invention, a computer implemented method for determining force disturbance signals for a vehicle is described. The computer implemented method includes obtaining sensor signals from a sensor system of the vehicle to monitor driving operations and to determine localization of the vehicle. The computer implemented method further includes determining a set of parameters including vehicle pose estimation, velocity, acceleration, roll, pitch, yaw rate based on the localization and the sensor signals and determining force disturbance signals including lateral force disturbances for front and rear axle lateral accelerations and a total longitudinal force disturbance based on the localization and the sensor signals.",
  "title": "Systems and methods for control state estimation of vehicles based on force disturbance signals"
}