A first Kalman filter estimates true measures of yaw rate and vehicle speed from associated noisy measures thereof generated by respective sensors in a host vehicle, and a second Kalman filter estimates therefrom parameters of a clothoid model of road curvature. Measures of range, range rate, and azimuth angle from a target state estimation subsystem, e.g. a radar system, are processed by an extended Kalman filter to provide an unconstrained estimate of the state of a target vehicle. Associated road constrained target state estimates are generated for one or more roadway lanes, and are compared-either individually or in combination-with the unconstrained estimate. If a constrained target state estimate corresponds to the unconstrained estimate, then the state of the target vehicle is generated by fusing the unconstrained and constrained estimates; and otherwise is given by the unconstrained estimate alone.
ROAD CURVATURE ESTIMATION AND AUTOMOTIVE TARGET STATE ESTIMATION SYSTEM
STRASSENKRÜMMUNGSSCHÄTZUNG UND KRAFTFAHRZEUG-ZIELZUSTANDSSCHÜTZSYSTEM
SYSTÈME D'ÉVALUATION DE L'INCURVATION D'UNE ROUTE ET D'ESTIMATION DE L'ÉTAT CIBLE D'UNE AUTOMOBILE
2016-04-06
Patent
Electronic Resource
English
IPC: | G01S RADIO DIRECTION-FINDING , Funkpeilung / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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