METHOD, CONTROL UNIT AND SYSTEM FOR PATH PREDICTION IN A VEHICLE

摘要

Method (400) and control unit (310) for predicting a path of a vehicle (100). The method (400) comprises measuring (402) velocity of the vehicle (100); measuring (403) steering wheel angle (αsw); measuring (404) steering wheel angle rate (α´sw); calculating (405) a future steering wheel angle (αsw), based on the measured (403) steering wheel angle (αsw) and the measured (404) steering wheel angle rate (α´sw); calculating (406) a future yaw rate (ω) of the vehicle (100) based on the measured (402) velocity of the vehicle (100) and the calculated future steering wheel angle (αsw); extrapolating (407) a vehicle position of the vehicle (100) in a set of future time frames, based on the calculated (406) future yaw rate (ω) and the vehicle velocity; and predicting (408) the path of the vehicle (100) based on the extrapolated (407) vehicle positions in the set of future time frames.