A vehicle control system for automated driver-assistance includes a controller that generates a control signal to alter operation of one or more actuators of a vehicle based on a heading of a target. Generating the control signal includes determining a first heading of the target based on sensor data. Further, a probability (pa) of the first heading being accurate is computed based on a number of heading flips encountered in a duration-window of a predetermined length. Further, a map-probability (pm) that the target is traveling according to data from a navigation map is computed. Further, a posterior probability (pf) of the first heading being accurate is computed based on the probability (pa) and the map-probability (pm). Generating the control signal further includes, in response to the posterior probability being less than a predetermined threshold, correcting the first heading, and generating the control signal based on the first heading.
MAP-BASED TARGET HEADING DISAMBIGUATION
2022-07-21
Patent
Electronic Resource
English
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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS |
TIBKAT | 2019
|HEADING CONTROL DEVICE AND HEADING CONTROL METHOD FOR SHIP
European Patent Office | 2019
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