公开(公告)号：US20200064436A1

公开(公告)日：2020-02-27

申请号：US16106308

申请日：2018-08-21

Applicant: Delphi Technologies, LLC

Inventor： Wenbing Dang ,  Jan K. Schiffmann ,  Kumar Vishwajeet ,  Keerthi Raj Nagaraja ,  Franz P. Schiffmann

IPC: G01S5/02 ,  B60W40/04

Abstract: An illustrative example method of tracking a detected object comprises determining that a tracked object is near a host vehicle, determining an estimated velocity of the tracked object, and classifying the tracked object as frozen relative to stationary ground when the estimated velocity is below a preselected object threshold and a speed of the host vehicle is below a preselected host threshold.

公开(公告)号：US10816344B2

公开(公告)日：2020-10-27

申请号：US15914208

申请日：2018-03-07

Applicant: Delphi Technologies, LLC

Inventor： Jan K. Schiffmann ,  Wenbing Dang ,  Kumar Vishwajeet ,  Keerthi Raj Nagaraja ,  Franz P. Schiffmann

IPC: G01C21/00 ,  G01C21/26 ,  G01S13/58 ,  G01S13/72 ,  G01S13/931 ,  G01S15/66 ,  G01S15/931 ,  G01S17/66 ,  G01S17/931

Abstract: An illustrative example method of tracking a moving object includes determining an initial pointing angle of the object from a tracking device, determining an estimated position of a selected feature on the object based upon the initial pointing angle, determining a velocity vector at the estimated position, determining a lateral acceleration at the estimated position based upon the velocity vector and a yaw rate of the object, determining a sideslip angle of the selected feature based on the lateral acceleration, and determining a refined pointing angle of the object from the determined sideslip angle.

公开(公告)号：US20190277960A1

公开(公告)日：2019-09-12

申请号：US15914219

申请日：2018-03-07

Applicant: Delphi Technologies, LLC

Inventor： Jan K. Schiffmann ,  Wenbing Dang ,  Kumar Vishwajeet ,  Keerthi Raj Nagaraja ,  Franz P. Schiffmann

IPC: G01S13/72 ,  G01S13/93

Abstract: An illustrative example method of tracking a moving object includes determining a heading angle of a centroid of the object from a tracking sensor, determining a raw difference value corresponding to a difference between a pointing angle of a selected feature on the object and the heading angle, wherein the raw difference is based on a trajectory curvature of the centroid from the tracking sensor and a distance between the centroid and the selected feature, determining a filtered difference between the pointing angle and the heading angle using a low pass filter, and determining the pointing angle by subtracting the filtered difference from the heading angle.

公开(公告)号：US20200025902A1

公开(公告)日：2020-01-23

申请号：US16039890

申请日：2018-07-19

Applicant: Delphi Technologies, LLC

Inventor： Kumar Vishwajeet ,  Jan K. Schiffmann ,  Wenbing Dang ,  Keerthi Raj Nagaraja ,  Franz P. Schiffmann

IPC: G01S13/536 ,  G01S13/93

Abstract: An illustrative example method of classifying a detected object includes detecting an object, determining that an estimated velocity of the object is below a preselected threshold velocity requiring classification, determining a time during which the object has been detected, determining a first distance the object moves during the time determining a speed of the object from the first distance and the time, determining a second distance that a centroid of the detected object moves during the time, and classifying the detected object as a slow moving object or a stationary object based on a relationship between the first and second distances and a relationship between the estimated velocity and the speed.

公开(公告)号：US20190277639A1

公开(公告)日：2019-09-12

申请号：US15914208

申请日：2018-03-07

Applicant: Delphi Technologies, LLC

Inventor： Jan K. Schiffmann ,  Wenbing Dang ,  Kumar Vishwajeet ,  Keerthi Raj Nagaraja ,  Franz P. Schiffmann

IPC: G01C21/26

Abstract: An illustrative example method of tracking a moving object includes determining an initial pointing angle of the object from a tracking device, determining an estimated position of a selected feature on the object based upon the initial pointing angle, determining a velocity vector at the estimated position, determining a lateral acceleration at the estimated position based upon the velocity vector and a yaw rate of the object, determining a sideslip angle of the selected feature based on the lateral acceleration, and determining a refined pointing angle of the object from the determined sideslip angle.