| 摘要 |
A method for determining whether a target vehicle is changing lanes in a roadway is disclosed. The method includes measuring an azimuth angle and a range between the target vehicle and a host vehicle, measuring a host vehicle velocity and a host vehicle yaw rate, calculating a relative velocity from the measured azimuth angle, range, host vehicle velocity and host vehicle yaw rate, comparing an absolute value of the calculated relative velocity and azimuth angle to a developed theoretical equation, and determining whether the target vehicle is changing lanes based on the comparison of the absolute value of the calculated relative velocity and azimuth angle to the developed theoretical equation over time.
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