Systems and methods of vehicular path prediction for cooperative driving applications through digital map and dynamic vehicle model fusion

摘要

Method and system of vehicular path prediction for a vehicle travelling on a road. A yaw rate of the vehicle is estimated over a prediction time period based on vehicle sensor information and map information for the road. Then, a further path of the vehicle on the road is predicted for the prediction time period based on a speed and a direction of the vehicle, and the estimated yaw rate. Map information includes a geometry for a portion of the road on which the vehicle is travelling, and the vehicle sensor information includes yaw rate information from a yaw rate sensor on the vehicle, and location information of the vehicle relative to the map information from a positioning device on the vehicle. A vehicle provided for path prediction includes a communication system for transmitting the predicted path to other vehicles for collision avoidance.