Geometric based path prediction method using moving and stop objects
AssigneeVisteon Global Technologies, Inc.
InventorFaroog Abdel-Kareem Ibrahim
Life of this patent
Estimating the term…
Abstract
A method for estimating the curvature in a road is disclosed. The method measures an azimuth angle range and relative velocity between a host and a target vehicle, which determines whether a host vehicle is changing lanes or whether a target vehicle is changing lanes. The method calculates a heading angle of the host vehicle and calculates a corrected azimuth angle by adjusting the measured azimuth angle by the value of calculated heading angle. This method selects a curve that minimizes the mean square error between the curve and selected targets; and determines an equation that describes the curve, wherein the equation is used to predict the path head of the host vehicle.
Claims13
A method for estimating a radius of curvature in a road, the method comprising:
- measuring a range and an azimuth angle between a host vehicle and a plurality of target vehicles;
- determining one of whether the host vehicle is changing lanes and whether a primary target vehicle in the plurality of target vehicles is changing lanes;
- calculating a heading angle of the host vehicle, wherein calculating a heading angle (η) further comprises calculating the heading angle as defined by:
- V h L x α + α = - η where :
- V h = the host vehicle speed ;
- L = the range between the host vehicle and the target vehicle ;
- α = the azimuth angle between the host vehicle and the target vehicle ;
- calculating a corrected azimuth angle by adjusting the measured azimuth angle by the calculated heading angle;
- selecting a curve that minimizes a mean square error between the selected curve and a plurality of measured locations of the plurality of target vehicles;
- and
- determining an equation that describes the curve, wherein the equation is used to determine the radius of curvature of the road ahead of the host vehicle.
A method for estimating a radius of curvature in a road, the method comprising:
- measuring a range and an azimuth angle between a host vehicle and a plurality of target vehicles and a plurality of stopped targets;
- measuring a yaw rate of the host vehicle;
- determining one of whether the host vehicle is changing lanes and whether a primary target vehicle in the plurality of target vehicles is changing lanes;
- calculating a heading angle of the host vehicle;
- calculating a corrected azimuth angle by adjusting the measured azimuth angle by the calculated heading angle;
- calculating a radius of curvature of the road based on the measured yaw rate of the host vehicle;
- selecting a curve that minimizes a mean square error between the selected curve and a plurality of measured locations of the plurality of target vehicles and the plurality of stopped targets;
- determining an equation that describes the curve, wherein the equation is used to predict the radius of curvature of the road ahead of the host vehicle;
- and
- calculating a final radius of curvature of the road by considering both the calculated curvature of the road based on the measured yaw rate and the predicted radius of curvature based on the equation of the selected curve.
Dependencies are inferred from the claim text.