This document describes target curvature estimation taking into account vehicle dynamics constraints. Some vehicle dynamics models use several kinematic states to predict a path of a target identified by an object tracking system. The example system does not rely on predetermined industry measurements as kinematic inputs to the model, but instead uses near real-time data outputs from a tracking filter to estimate some of these states. This may include estimating position and velocity states, as well as curvature and centripetal acceleration states. The example system is particularly suitable for accurately predicting curvature and centripetal acceleration states, which greatly improves the accuracy of the object tracking system and further improves the safety of avoiding target collisions.
本文档描述了考虑交通工具动力学约束的目标曲率估计。一些交通工具动力学模型使用若干运动学状态来预测由对象跟踪系统标识的目标的路径。示例系统不是依赖预先确定的行业测量作为给模型的运动学输入,而是使用来自跟踪滤波器的近实时数据输出来估计这些状态中的一些。这可以包括估计位置和速度状态,以及曲率和向心加速度状态。示例系统特别适用于准确预测曲率和向心加速度状态,这大大提高了对象跟踪系统的准确度,并且进一步提高了避免目标碰撞的安全性。
Target curvature estimation taking into account vehicle dynamics
考虑交通工具动力学的目标曲率估计
2022-08-26
Patent
Electronic Resource
Chinese
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