3 results about "Velocity vector" patented technology

The present invention relates to a method for implementing velocity feature fusion for a visual target and a millimeter-wave radar point cloud. The method comprises: within the same frame period, acquiring host vehicle state information, millimeter-wave radar point cloud data, and target information that is output by a visual detection network model; calculating an actual radial velocity of a point cloud to the ground on the basis of the host vehicle state information; associating the millimeter-wave radar point cloud data with a visual target; using height information and dynamic and static information of the visual target to perform secondary non-target point cloud screening on an initially selected point cloud cluster, so as to acquire a final associated point cloud cluster; performing preliminary verification on the currently acquired visual target, and determining whether a velocity vector of the target is accurate; and if the velocity vector is not accurate, on the basis of a training result obtained by the visual detection network model, determining the accuracy degrees of the current target velocity direction and magnitude, and using a target point cloud cluster to calculate a target velocity magnitude and an angular velocity magnitude, so as to implement fusion processing of velocity features.

The estimation device (10) of the present application includes: a sensor section (11) that transmits and receives a sensor wave and detects positions and relative velocities of a plurality of reflection points on an object; a velocity vector calculation section (23) that calculates a velocity vector of an arbitrary reference point of the object; a reflection point distance calculation section (21) that calculates a distance from the reference point to a straight line having a reflection point direction as a slope; a rotational relative velocity calculation section (25) that calculates a rotational relative velocity of the reflection point by subtracting a relative velocity at the reflection point direction based on the velocity vector of the reference point from the relative velocity of the reflection point; and an angular velocity calculation section (27) that calculates an angular velocity of the object based on the reflection point distance and the rotational relative velocity calculated by the reflection point distance calculation section and the rotational relative velocity calculation section.

One or more embodiments of the present disclosure relate to obtaining a first state estimate corresponding to an object, the first state estimate including a first velocity vector estimate corresponding to the object. The disclosure may further relate to receiving first sensor data corresponding to a first portion of the object. The embodiments may further include determining a first expected measurement corresponding to the first portion, the first expected measurement including a first expected range rate determined based at least on the first angle measurement and the first velocity vector estimate of the first state estimate. And, determining a second state estimate corresponding to the object, the second state estimate including a second velocity vector estimate corresponding to the object and determined based at least on the first range rate measurement and the first expected range rate.