US 7,522,091 B2Granted

Road curvature estimation system

AssigneeAutomotive Systems Laboratory, Inc.

InventorsShan Cong, Shi Shen, Lang Hong

Life of this patent

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Abstract

A processor using a first Kalman filter estimates a host vehicle state from speed and yaw rate, the latter of which may be from a yaw rate sensor if speed is greater than a threshold, and, if less, from a steer angle sensor and speed. Road curvature parameters are estimated from a curve fit of a host vehicle trajectory or from a second Kalman filter for which a state variable may be responsive to a plurality of host state variables. Kalman filters may incorporate adaptive sliding windows. Curvature of a most likely road type is estimated with an interacting multiple model (IMM) algorithm using models of different road types. A road curvature fusion subsystem provides for fusing road curvature estimates from a plurality of curvature estimators using either host vehicle state, a map database responsive to vehicle location, or measurements of a target vehicle with a radar system.

Claims5

Dependent claims

A road curvature estimation system, comprising:

a. a plurality of road curvature estimation subsystems selected from a first road curvature estimation subsystem adapted to estimate a first set of at least one first curvature parameter responsive to a measure of longitudinal speed of a host vehicle on a roadway and a measure of yaw rate of said host vehicle, a second road curvature estimation subsystem adapted to estimate a second set of at least one second curvature parameter responsive to a measure of said second set of at least one second curvature parameter from a map database responsive to a measure of location of said host vehicle, and a third road curvature estimation subsystem adapted to estimate a third set of at least one third curvature parameter responsive to a radar measurement of a target vehicle traveling on said roadway;
and
b. a processor adapted to fuse at least two of said first set of at least one first curvature parameter, said second set of at least one second curvature parameter, and said third set of at least one third curvature parameter so as to generate a fourth set of at least one fourth curvature parameter as an estimate of curvature of said roadway.

Dependencies are inferred from the claim text.

Facts

Application: 11/022,265Filed 24 Dec 2004 · continuation in part
Priority: 15 Jul 2002
Published: US 2005/0179580 A113 Oct 2005
Granted: 21 Apr 2009
Term ends: Not estimatedThe source records don’t support an estimate.

Classification28 codes

B60K 31/0066
Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an…:…
B60K 31/0008
Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an…:…
B60K 31/12
Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an…:…
G01C 21/26
Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00: specially adapted for navigation in a road network

Family

Application60/396,211Us provisional application · filed 15 Jul 2002
Application10/620,749Parent of this continuation-in-part · filed 15 Jul 2003
Application60/532,344Us provisional application · filed 24 Dec 2003
US 2005/0225477 A1Pre-grant publication · published 13 Oct 2005
US 7,034,742 B2Parent of this continuation-in-part
US 2005/0179580 A1Published application
US 7,522,091 B2This patent

From the US filing history. Foreign family members aren’t listed.