Systems and methods for controlling a vehicle. Systems and methods receive static object detection data from a perceptual system. The static object detection data includes a first representation of the static object at a current time and a second representation of the static object at an earlier time. Systems and methods receive vehicle dynamics measurements from a sensor system, determine a current location of a static object based on a first representation of the static object, predict an expected location of the static object at a current time using a second representation of the static object at an earlier time, a motion model, and the vehicle dynamics measurements; estimating a lateral speed of the vehicle based on a gap between the current position and the expected position; and controlling the vehicle using the lateral speed.
系统和方法用于控制车辆。系统和方法接收来自感知系统的静态对象检测数据。静态对象检测数据包括静态对象在当前时间上的第一表示以及静态对象在较早时间上的第二表示。系统和方法接收来自传感器系统的车辆动态测量数据,基于静态对象的第一表示确定静态对象的当前位置,使用静态对象在较早时间上的第二表示、运动模型和车辆动态测量数据预测静态对象在当前时间上的预期位置;基于当前位置和预期位置之间的差距估计车辆的横向速度;以及使用横向速度控制车辆。
SYSTEM AND METHOD FOR ESTIMATING LATERAL SPEED OF VEHICLE
用于估计车辆的横向速度的系统和方法
2024-02-23
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
Lateral force estimation system, method of estimating lateral force and vehicle
European Patent Office | 2017
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