WO2005062984A3 - Road curvature estimation system - Google Patents

Road curvature estimation system Download PDF

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Publication number
WO2005062984A3
WO2005062984A3 PCT/US2004/043695 US2004043695W WO2005062984A3 WO 2005062984 A3 WO2005062984 A3 WO 2005062984A3 US 2004043695 W US2004043695 W US 2004043695W WO 2005062984 A3 WO2005062984 A3 WO 2005062984A3
Authority
WO
WIPO (PCT)
Prior art keywords
curvature
road
speed
road curvature
host vehicle
Prior art date
Application number
PCT/US2004/043695
Other languages
French (fr)
Other versions
WO2005062984A2 (en
Inventor
Shan Cong
Shi Shen
Lang Hong
Original Assignee
Automotive Systems Lab
Shan Cong
Shi Shen
Lang Hong
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Automotive Systems Lab, Shan Cong, Shi Shen, Lang Hong filed Critical Automotive Systems Lab
Priority to JP2006547495A priority Critical patent/JP4990629B2/en
Priority to EP04815709A priority patent/EP1714108A4/en
Publication of WO2005062984A2 publication Critical patent/WO2005062984A2/en
Publication of WO2005062984A3 publication Critical patent/WO2005062984A3/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/66—Radar-tracking systems; Analogous systems
    • G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
    • G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction

Abstract

A processor (26) using a first Kalman filter (52, 52.1) estimates a host vehicle state from speed (U) and yaw rate, the latter of which may be from a yaw rate sensor (16) if speed (U) is greater than a threshold, and, if less, from a steer angle sensor and speed (U). Road curvature parameters (C0, C1) are estimated from a curve fit of a host vehicle trajectory or from a second Kalman filter (54, 54.1) for which a state variable may be responsive to a plurality of host state variables (72, 74). Kalman filters (52, 52.1, 54, 54.1) may incorporate adaptive sliding windows. Curvature of a most likely road type is estimated with an interacting multiple model (IMM) algorithm (2400) using models of different road types. A road curvature fusion subsystem (96) provides for fusing road curvature estimates from a plurality of curvature estimators (42.1, 42.2, 42.N) using either host vehicle state, a map database (88) responsive to vehicle location (86), or measurements of a target vehicle (36) with a radar system (14).
PCT/US2004/043695 2003-12-24 2004-12-24 Road curvature estimation system WO2005062984A2 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2006547495A JP4990629B2 (en) 2003-12-24 2004-12-24 Road curvature estimation system
EP04815709A EP1714108A4 (en) 2003-12-24 2004-12-24 Road curvature estimation system

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US53234403P 2003-12-24 2003-12-24
US60/532,344 2003-12-24

Publications (2)

Publication Number Publication Date
WO2005062984A2 WO2005062984A2 (en) 2005-07-14
WO2005062984A3 true WO2005062984A3 (en) 2007-02-22

Family

ID=34738789

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2004/043695 WO2005062984A2 (en) 2003-12-24 2004-12-24 Road curvature estimation system

Country Status (3)

Country Link
EP (1) EP1714108A4 (en)
JP (3) JP4990629B2 (en)
WO (1) WO2005062984A2 (en)

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Also Published As

Publication number Publication date
JP5848137B2 (en) 2016-01-27
JP2012131496A (en) 2012-07-12
EP1714108A2 (en) 2006-10-25
WO2005062984A2 (en) 2005-07-14
JP5265787B2 (en) 2013-08-14
EP1714108A4 (en) 2010-01-13
JP2012131495A (en) 2012-07-12
JP2007516906A (en) 2007-06-28
JP4990629B2 (en) 2012-08-01

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