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Method of determining the yaw rate of a target vehicle

A target vehicle, yaw rate technology, applied in the direction of reflection/re-radiation of radio waves, instruments, measuring devices, etc., can solve problems such as no instantaneous estimation

Active Publication Date: 2018-12-18
DELPHI TECH INC
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In the prior art, there is no algorithm for instantaneous estimation of the full-plane motion of a rigid-body target object based on the raw detection reports of a single radar

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  • Method of determining the yaw rate of a target vehicle
  • Method of determining the yaw rate of a target vehicle
  • Method of determining the yaw rate of a target vehicle

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Embodiment Construction

[0045] Prior Art and Background

[0046] Accurate estimation of yaw rate and over-the-ground (OTG) speed is important for many driver assistance systems. This paper describes a radar system configured to estimate in real-time the yaw rate and OTG velocity of an extended target (primarily used for vehicle tracking) based on raw radar detections (ie, range, range rate, and bearing). As used herein, the term "extended object" is used to refer to an object that presents multiple, spaced apart discrete points, and thus the term "extended object" is understood to mean that the object has a certain physical size. Individual scatter points do not have to be tracked individually from one radar scan to the next, so in successive radar scans the number of scatter points can be a different number and / or each scatter point can have a different Location.

[0047] The present invention determines instantaneous values ​​of lateral velocity, longitudinal velocity and yaw rate at any point ...

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Abstract

The invention discloses a method of determining the yaw rate of a target vehicle. A method of determining the yaw rate of a target vehicle in a horizontal plane by a host vehicle equipped with a radarsystem, the radar system comprises a radar sensor unit adapted to receive signals emitted from the host vehicle by the target, comprising: emitting a radar signal at a single time-point instance anddetermining from a plurality of point radar detection measurements captured from the target vehicle by the radar sensor unit in the single radar measurement instance, the values for each point detection of range, azimuth and range rate; determining the values of the longitudinal and lateral components of the range rate equation of the target from the results; determining the orientation angle of the target; determining the target centre from the results; determining a line lPH perpendicular to the orientation of the target and passing through the center of the target; determining a line lCA passing through the center of rotation of the target and the position of radar sensor unit of the vehicle; determining the intersection point of the lines lCA and lPH being the position of the center ofrotation of the target; and estimating the yaw rate according to the position of the rotation center and the range rate equation of the target.

Description

technical field [0001] The present disclosure relates generally to a radar system suitable for an autonomous vehicle, and more particularly to a system for calculating the yaw-rate of a target. The present invention relates to an onboard method of estimating planar motion parameters of an object detected by (eg Doppler) radar, such as an object of another vehicle. The method is particularly suitable for planar motion parameters of a vehicle detected by a host vehicle equipped with a radar system. Background technique [0002] Aspects of the invention relate to an improved method of determining instantaneous values ​​of lateral velocity, longitudinal velocity, and yaw rate for any point of a rigid body in a radar field of view (FOV). Aspects are applicable to, but not limited to, estimation of automotive perception systems of vehicles, and may be used in active safety, driver assistance, and autonomous driving applications. [0003] When an automated or autonomous host vehi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60W40/114G01S13/931
CPCB60W40/114B60W2420/408G01S7/295G01S13/582G01S13/584G01S13/42G01S13/589G01S13/726G01S13/931G01S2013/932G01S2013/93271B60W2520/14
Inventor D·凯斯拉尔M·斯塔希尼克K·科格特
Owner DELPHI TECH INC