Road curvature estimation and automotive target state estimation system
US7034742B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jul 15, 2003 |
| Grant date | Apr 25, 2006 |
| Priority date | — |
| Expiry date | Jul 15, 2023 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01S2013/93271
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.