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Accurate estimation of vehicle longitudinal and lateral velocity is meaningful for internal system. Aiming at improving the accuracy of velocity estimation, the Covariance inverse (CI) based fusion method is applied. A vehicle dynamics model is established and the CI method is analysed. Finally, a joint simulation of CarSim and MATLAB/Simulink is conducted and the results show the advantages of proposed method.

Longitudinal and Lateral Velocity Estimation based on Covariance Inverse Robust Fusion