Target velocity detection
AssigneeFord Global Technologies, LLC
InventorJinhyoung Oh
Life of this patent
Estimating the term…
Abstract
A computer includes a processor and a memory storing instructions executable by the processor to collect at least one set of data with a first Doppler sensor, each set of data including a radial distance, an azimuth angle and a range rate between the first Doppler sensor and a target, collect at least one set of data with a second Doppler sensor, determine that the collected sets of data include a first, second, and third set, determine respective radial components of a ground velocity of the target based on the first, second and third sets of data a position on a host vehicle of the respective Doppler sensor that collected the sets of data, and determine a linear velocity of the target and a yaw rate of the target based on the radial components of the ground velocity of the target.
Claims20
A system, comprising a computer including a processor and a memory, the memory storing instructions executable by the processor to:
- collect at least one set of data with a first Doppler sensor, each set of data including a radial distance, an azimuth angle and a range rate between the first Doppler sensor and a target;
- collect at least one set of data with a second Doppler sensor, each set of data including a radial distance, an azimuth angle, and a range rate between the second Doppler sensor and the target;
- determine that the collected sets of data include a first set, a second set, and a third set;
- determine a first radial component of a ground velocity of the target based on the first set of data and a position on a host vehicle of the respective Doppler sensor that collected the first set of data;
- determine a second radial component of the ground velocity of the target based on the second set of data and a position on the host vehicle of the respective Doppler sensor that collected the second set of data;
- determine a third radial component of the ground velocity of the target based on the third set of data and a position on the host vehicle of the respective Doppler sensor that collected the third set of data;
- and
- determine a linear velocity of the target and a yaw rate of the target based on the first, second, and third radial components of the ground velocity of the target.
A method, comprising:
- collecting at least one set of data with a first Doppler sensor, each set of data including a radial distance, an azimuth angle and a range rate between the first Doppler sensor and a target;
- collecting at least one set of data with a second Doppler sensor, each set of data including a radial distance, an azimuth angle, and a range rate between the second Doppler sensor and the target;
- determining that the collected sets of data include a first set, a second set, and a third set;
- determining a first radial component of a ground velocity of the target based on the first set of data and a position on a host vehicle of the respective Doppler sensor that collected the first set of data;
- determining a second radial component of the ground velocity of the target based on the second set of data and a position on the host vehicle of the respective Doppler sensor that collected the second set of data;
- determining a third radial component of the ground velocity of the target based on the third set of data and a position on the host vehicle of the respective Doppler sensor that collected the third set of data;
- and
- determining a linear velocity of the target and a yaw rate of the target based on the first, second, and third radial components of the ground velocity of the target.
A system, comprising:
- a first Doppler sensor of a host vehicle;
- a second Doppler sensor of the host vehicle;
- means for collecting at least one set of data with the first Doppler sensor, each set of data including a radial distance, an azimuth angle and a range rate between the first Doppler sensor and a target;
- means for collecting at least one set of data with the second Doppler sensor, each set of data including a radial distance, an azimuth angle, and a range rate between the second Doppler sensor and the target;
- means for determining that the collected sets of data include a first set, a second set, and a third set;
- means for determining a first radial component of a ground velocity of the target based on the first set of data and a position on the host vehicle of the respective Doppler sensor that collected the first set of data;
- means for determining a second radial component of the ground velocity of the target based on the second set of data and a position on the host vehicle of the respective Doppler sensor that collected the second set of data;
- means for determining a third radial component of the ground velocity of the target based on the third set of data and a position on the host vehicle of the respective Doppler sensor that collected the third set of data;
- and
- means for determining a linear velocity of the target and a yaw rate of the target based on the first, second, and third radial components of the ground velocity of the target.
Dependencies are inferred from the claim text.