Heading angle estimation for object tracking
AssigneeAptiv Technologies AG
InventorsWenbing Dang, Jan K. Schiffmann, Kumar Vishwajeet, Susan Chen
Life of this patent
Estimating the term…
Abstract
An illustrative example method of tracking an object includes detecting one or more points on the object over time to obtain a plurality of detections, determining a position of each of the detections, determining a relationship between the determined positions, and determining an estimated heading angle of the object based on the relationship.
Claims20
A method of tracking a moving object at least partially in a pathway of a host vehicle, the method comprising:
- detecting, with a ranging sensor of the host vehicle, one or more points on the moving object over time to obtain a plurality of detections;
- determining, with a processor, a position of each of the detections of points on the moving object relative to a two-dimensional world coordinate system;
- determining, with the processor, a spatial relationship between the determined positions of the detections of points on the moving object to define a shape that encompasses the determined positions and that is in the two-dimensional world coordinate system;
- and
- determining, with the processor, an estimated heading angle of the moving object based on the spatial relationship and based on an orientation of the defined shape relative to the two-dimensional world coordinate system.
A device for tracking a moving object relative to a host vehicle, the device comprising:
- a ranging sensor that detects one or more points on the moving object over time;
- and
- a processor that is configured to:
- determine a position of each of the detected one or more points on the moving object relative to a two-dimensional world coordinate system;
- determine a spatial relationship between the determined positions of the detected one or more points on the moving object to define a shape that encompasses the determined positions and that is in the two-dimensional world coordinate system;
- and
- determine an estimated heading angle of the moving object based on the spatial relationship and based on an orientation of the defined shape relative to the two-dimensional world coordinate system.
A device for tracking a moving object relative to a host vehicle, the device comprising:
- detection means for detecting one or more points on the moving object over time;
- and
- determining means for determining a position of each of the detected one or more points on the moving object relative to a two-dimensional world coordinate system;
- determining a spatial relationship between the determined positions of the detected one or more points on the moving object to define a shape that encompasses the determined positions and that is in the two-dimensional world coordinate system;
- and
- determining an estimated heading angle of the moving object based on the spatial relationship and based on an orientation of the defined shape relative to the two-dimensional world coordinate system.
Dependencies are inferred from the claim text.