| 摘要 |
A radar system (10) suitable for an automated vehicle includes a radar sensor (14) and a controller (20). The radar-sensor (14) is mounted on a host-vehicle (28). The radar-sensor (14) is operable to detect radar-signals (16) reflected by scattering-points (18) of a target-vehicle (12) located proximate to the host-vehicle (28). The controller (20) is in communication with the radar-sensor (14). The controller (20) is configured to determine a present-range-rate (32), a present-azimuth (34), and optionally a present-range (50), of each of the scattering-points (18) at a present-time. The controller (20) is also configured to recall a prior-range-rate (36), a prior-azimuth (38), and optionally a prior-range (52), of each of the scattering-points (18) at a prior-time. The controller (20) is also configured to calculate a yaw-rate (30) of the target-vehicle (12) at the present-time based on the present-range-rate (32), the present-azimuth (34), the prior-range-rate (36), and the prior-azimuth (38), and optionally the present-range (50) and the prior-range (52), of each of the scattering-points (18). |
