公开(公告)号：US20190004166A1

公开(公告)日：2019-01-03

申请号：US16003710

申请日：2018-06-08

Applicant: Delphi Technologies, LLC

Inventor： Mateusz Orlowski ,  Dariusz Cieslar ,  Mateusz Stachnik

IPC: G01S13/58 ,  G01S13/93 ,  G01S17/93 ,  G01S17/58

Abstract: A method to determine the heading or orientation of a target vehicle by a host vehicle, said host vehicle equipped with a lidar or radar system, said system including a sensor unit adapted to receive signals emitted from said host vehicle and reflected by said target vehicle, comprising: a) determining at least one reference angle being an initial estimate of target heading or orientation (β); b) emitting a signal from said system and determining a plurality of point radar or lidar detections belonging to said a target vehicle, said point detections having co-ordinates in the horizontal plane; c) formulating an initial rectangular boundary box from said point detections, where the bounding box is formulated such that such that two edges of the boundary box are drawn parallel to the reference angle and two sides are perpendicular to the reference angle and such that all the detections are either on the bounding box sides or lay within the bounding box and each edge has at least one detection point on it; d) for each point on lying on an edge of the boundary box, rotating a line coincident with the respective edge clockwise and anticlockwise until said line intersects another point detection or until a maximum angle of rotation is performed; and each time when said line intersects said another point detection, determining a correction angle Δi, where the correction angle is such that applied to the reference angle it gives an orientation candidate angle γi; e) in respect of each orientation candidate angle γi/correction angle Δi, determining a cost function; and f) selecting that orientation candidate angle having the lowest cost function.

公开(公告)号：US20180356517A1

公开(公告)日：2018-12-13

申请号：US16004487

申请日：2018-06-11

Applicant: Delphi Technologies, LLC

Inventor： Dariusz Cieslar ,  Mateusz Stachnik ,  Krzysztof Kogut

IPC: G01S13/93 ,  B60W40/114 ,  B60W30/16

CPC classification number: G01S13/931 ,  B60K2031/0025 ,  B60W30/16 ,  B60W40/114 ,  B60W2520/14 ,  G01S7/295 ,  G01S13/582 ,  G01S13/584 ,  G01S2013/9353 ,  G01S2013/9371

Abstract: A method of determining the yaw rate ({circumflex over (ω)}t) of a target vehicle in a horizontal plane by a host vehicle equipped with a radar system, said radar system including a radar sensor unit adapted to receive signals emitted from said host vehicle by said target, comprising: emitting a radar signal at a single time-point instance and determining from a plurality (m) of point radar detections measurements captured from said target vehicle by said radar sensor unit in said single radar measurement instance, the values for each point detection of range, azimuth and range rate; [ri, θi, {dot over (r)}i]; determining the values of the longitudinal and lateral components of the range rate equation of the target (ct, st) from the results ({dot over (r)}i, θi,) and the sensor unit or host vehicle longitudinal velocity and vs is the sensor unit or host vehicle lateral velocity; determining the orientation angle of the target (γt,scs); determining the target center (xt and yt) from the results (ri, θi); determining a line lPH perpendicular to the orientation of the target and passing through the center of the target (xt,c,scs, yt,c,scs); determining a line lCA passing through the center of rotation of said target and the position of radar sensor unit of said vehicle; determining the intersection point of the lines lCA and lPH being the position of the center of rotation [{circumflex over (x)}t,COR, ŷt,COR] of the target; h) estimating and yaw rate {circumflex over (ω)}t from the position of the center of rotation found in step f) and components of range rate equation of the target (ct or st) of step b).

公开(公告)号：US20180356498A1

公开(公告)日：2018-12-13

申请号：US16004493

申请日：2018-06-11

Applicant: Delphi Technologies, LLC

Inventor： Mateusz Stachnik ,  Dariusz Cieslar ,  Krzysztof Kogut

IPC: G01S7/295 ,  G01S13/58

CPC classification number: G01S7/295 ,  G01S7/2921 ,  G01S13/58 ,  G01S13/581 ,  G01S13/588 ,  G01S13/931 ,  G01S2013/9353

Abstract: A method of determining the de-aliased range rate of a target in a horizontal plane by a host vehicle equipped with a radar system, said radar system including a radar sensor unit adapted to receive signals emitted from said host vehicle and reflected by said target, comprising: emitting a radar signal at a single time-point instance and determining from a plurality (m) of point radar detections measurements therefrom captured from said radar sensor unit, the values for each point detection of, azimuth and range rate; [θi, {dot over (r)}i]; for each point detection determining a range rate compensated value ({dot over (r)}i,cmp); c) determining a plurality (j) of velocity profile hypotheses; for each (j-th) hypothesis determining modified compensated hypothesis range rates ({dot over (r)}i,j,cmp) in respect of each point detection on the target, based on the values of range rate compensated ({dot over (r)}i,cmp); for each j-th hypothesis, determining values of the longitudinal and lateral components of the range rate equation of the target {tilde over (c)}t,j and +{tilde over (s)}t,j; for each j-th hypothesis and for each point detection determining a velocity profile estimator range rate ({dot over ({circumflex over (r)})}i,j,cmp); for each hypothesis, for one or more point detections, determining a measure of the dispersion of, or variation between the velocity profile estimator range rates ({dot over ({circumflex over (r)})}i,j,cmp) for each velocity profile hypothesis and their respective modified range rates ({dot over ({circumflex over (r)})}i,j,cmp) from step d), or the dispersion of, or variation between, one or both of the velocity profile components {tilde over (c)}t,j and {tilde over (s)}t,j for each velocity profile hypothesis, and selecting the velocity profile where said measure of dispersion or variation is the lowest; setting the de-aliased range rate as the velocity of the velocity hypothesis selected.