Methods and systems for scan matching approaches for vehicle heading estimation

摘要

Methods and devices for estimating a heading of a target vehicle are disclosed. An example method may include determining a first point cloud representative of a location of a target vehicle at a first time period and a second point cloud representative of the location of the target vehicle at a second time period. Using a computing device, an initial comparison between the first point cloud and the second point cloud may be determined based on an estimate of a speed for the target vehicle and a time difference between the first time period and the second time period. Additionally, the initial comparison may be revised based on a minimization of a distance between points of the first point cloud and corresponding points of the second point cloud. An estimate of a heading of the target vehicle may then be determined based on the revised comparison.

主权项

1. A method comprising:
determining a first point cloud representative of a location of a target vehicle at a first time period; determining a second point cloud representative of the location of the target vehicle at a second time period; determining, using a computing device, an initial comparison between the first point cloud and the second point cloud based on an estimate of a speed for the target vehicle and a time difference between the first time period and the second time period; revising, using the computing device, the initial comparison based on a minimization of a distance between points of the first point cloud and corresponding points of the second point cloud; determining, using the computing device, an estimate of a heading of the target vehicle based on the revised comparison; and controlling another vehicle based on the determined estimate of the heading of the target vehicle.