发明名称 |
ROAD CURVATURE ESTIMATION AND AUTOMOTIVE TARGET STATE ESTIMATION SYSTEM |
摘要 |
A first Kalman filter estimates true measures of yaw rate and vehicle speed from associated noisy measures thereof generated by respective sensors in a host vehicle, and a second Kalman filter estimates therefrom parameters of a clothoid model of road curvature. Measures of range, range rate, and azimuth angle from a target state estimation subsystem, e.g. a radar system, are processed by an extended Kalman filter to provide an unconstrained estimate of the state of a target vehicle. 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. |
申请公布号 |
EP1537440(A2) |
申请公布日期 |
2005.06.08 |
申请号 |
EP20030764720 |
申请日期 |
2003.07.15 |
申请人 |
AUTOMOTIVE SYSTEMS LABORATORY INC. |
发明人 |
CONG, SHAN;SHEN, SHI;HONG, LANG |
分类号 |
G01S13/93;G08G1/16;B60K31/00;G01S13/58;G01S13/72;G01S13/86 |
主分类号 |
G01S13/93 |
代理机构 |
|
代理人 |
|
主权项 |
|
地址 |
|