| 摘要 |
<P>PROBLEM TO BE SOLVED: To estimate a curvature of a road by a Kalman filter. <P>SOLUTION: In this estimation system, a first Kalman filter 52 estimates measured values of a yaw rate and speed from measured values generated by respective sensors 16, 18 in a host vehicle, and a second Kalman filter 54 estimates therefrom parameters of a clothoid model of road curvature. Measured values of a range, a range rate and an azimuth angle from a radar system 14, are processed by an extended Kalman filter 56 to provide an unconstrained estimate of the state of a target vehicle 36. 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. <P>COPYRIGHT: (C)2011,JPO&INPIT |
