Radar, lidar and camera enhanced methods for vehicle dynamics estimation

A system for estimating vehicle dynamics in a vehicle, said system comprising:

• an object detection sensor for detecting stationary objects relative to vehicle motion, said object detection sensor providing object detection signals for tracking the objects;
• a plurality of in-vehicle sensors providing sensor signals representative of the vehicle motion, said plurality of in-vehicle sensors includes steering wheel angle sensors, yaw-rate sensors, longitudinal speed sensors, longitudinal acceleration sensors and lateral acceleration sensors;
• an association processor responsive to the object detection signals, said association processor matching the object detection signals of consecutive views to track the objects, and providing object tracking signals;
• a longitudinal state estimation processor responsive to the object tracking signals and the sensor signals, and providing an estimation of vehicle speed in a forward direction relative to the vehicle motion;
• and
• a lateral state estimation processor responsive to the object tracking signals and the sensor signals, said lateral state estimation processor estimating vehicle speed in a lateral direction relative to the vehicle motion, wherein the object detection sensor is a monocular camera.