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US 11,768,286 B2Granted
Method of determining the yaw rate of a target vehicle
AssigneeAptiv Technologies AG
InventorsDariusz Cieslar, Mateusz Stachnik, Krzysztof Kogut
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Abstract
This disclosure describes a radar system configured to estimate a yaw-rate and an over-the-ground (OTG) velocity of extended targets in real-time based on raw radar detections. This disclosure further describes techniques for determining instantaneous values of lateral velocity, longitudinal velocity, and yaw rate of points of a rigid body in a radar field-of-view (FOV) of the radar system.
Claims20
A method of determining, by a host vehicle equipped with a radar system, a yaw rate of a target vehicle in a horizontal plane, the radar system including a radar sensor unit configured to receive signals emitted from the host vehicle and reflected by the target vehicle, the method comprising:
- a) emitting a radar signal and determining, from a plurality of point radar detection measurements obtained by the radar sensor unit, range, azimuth, and range rate values for each point radar detection;
- b) determining, by using a Least Square method and in a sensor coordinate system, Least Square solution values of longitudinal and lateral components of a range rate equation of the target vehicle, where the longitudinal and lateral components of the range rate equation are based on the azimuth and range rate values, a longitudinal velocity of the host vehicle, and a lateral velocity of the host vehicle, an x-axis of the sensor coordinate system being perpendicular to the radar sensor unit and pointing away and ahead of the radar sensor unit, a y-axis of the sensor coordinate system being perpendicular to the x-axis and pointing right of the radar sensor unit;
- c) determining an orientation angle and a center of the target vehicle, the orientation angle being relative to the x-axis and a first line representing an orientation of the target vehicle, the center being based on the range and azimuth values and a second line that is perpendicular to the first line and passes through the center of the target vehicle;
- d) determining a position of a center of rotation of the target vehicle as an intersection point of the second line and a third line, the third line being determined using a position of the radar sensor unit of the host vehicle and the Least Square solution values of the longitudinal and lateral components of the range rate equation;
- e) estimating the yaw rate based on the position of the center of rotation of the target vehicle and the Least Square solution values of the longitudinal and lateral components of the range rate equation;
- and
- f) operating, by a driving-assistance system of the host vehicle, the host vehicle based on the yaw rate of the target vehicle.
4 more elements
A system of a host vehicle comprising:
- a radar system configured to determine a yaw rate of a target vehicle in a horizontal plane, the radar system configured to:
- a) emit a radar signal and determine, from a plurality of point radar detection measurements obtained by a radar sensor unit of the radar system, range, azimuth, and range rate values for each point radar detection, the radar signal being reflected by the target vehicle;
- b) determine, by using a Least Square method and in a sensor coordinate system, Least Square solution values of longitudinal and lateral components of a range rate equation of the target vehicle, where the longitudinal and lateral components of the range rate equation are based on the azimuth and range rate values, a longitudinal velocity of the host vehicle, and a lateral velocity of the host vehicle, an x-axis of the sensor coordinate system being perpendicular to the radar sensor unit and pointing away and ahead of the radar sensor unit, a y-axis of the sensor coordinate system being perpendicular to the x-axis and pointing right of the radar sensor unit;
- c) determine an orientation angle and a center of the target vehicle, the orientation angle being relative to the x-axis and a first line representing an orientation of the target vehicle, the center being based on the range and azimuth values and a second line that is perpendicular to the first line and passes through the center of the target vehicle;
- d) determine a position of a center of rotation of the target vehicle as an intersection point of the second line and a third line, the third line being determined using a position of the radar sensor unit of the host vehicle and the Least Square solution values of the longitudinal and lateral components of the range rate equation;
- and
- e) estimate the yaw rate based on the position of the center of rotation of the target vehicle and the Least Square solution values of the longitudinal and lateral components of the range rate equation;
- and
- a driving-assistance system of the host vehicle configured to operate the host vehicle based on the yaw rate of the target vehicle.
6 more elements
Dependencies are inferred from the claim text.