CN114660330B - 确定估计速度的不确定性估计的方法 - Google Patents
确定估计速度的不确定性估计的方法 Download PDFInfo
- Publication number
- CN114660330B CN114660330B CN202210456902.0A CN202210456902A CN114660330B CN 114660330 B CN114660330 B CN 114660330B CN 202210456902 A CN202210456902 A CN 202210456902A CN 114660330 B CN114660330 B CN 114660330B
- Authority
- CN
- China
- Prior art keywords
- uncertainty
- estimated speed
- estimated
- velocity
- estimate
- Prior art date
- Legal status (The legal status 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 status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 48
- 238000009826 distribution Methods 0.000 claims abstract description 30
- 238000001514 detection method Methods 0.000 claims description 78
- 238000013459 approach Methods 0.000 claims description 34
- 239000011159 matrix material Substances 0.000 claims description 26
- 239000006185 dispersion Substances 0.000 claims description 17
- 238000005259 measurement Methods 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 6
- 230000009897 systematic effect Effects 0.000 claims description 5
- 238000009827 uniform distribution Methods 0.000 claims description 4
- 238000012937 correction Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 description 8
- 230000014509 gene expression Effects 0.000 description 7
- 230000008901 benefit Effects 0.000 description 3
- 230000009977 dual effect Effects 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000001010 compromised effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000011895 specific detection Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
- G01P21/02—Testing or calibrating of apparatus or devices covered by the preceding groups of speedometers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
- G01P3/64—Devices characterised by the determination of the time taken to traverse a fixed distance
- G01P3/66—Devices characterised by the determination of the time taken to traverse a fixed distance using electric or magnetic means
- G01P3/665—Devices characterised by the determination of the time taken to traverse a fixed distance using electric or magnetic means for projectile velocity measurements
-
- 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
-
- 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
- G01S13/581—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets
-
- 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
- G01S13/583—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets
- G01S13/584—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of continuous unmodulated waves, amplitude-, frequency-, or phase-modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
-
- 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
- G01S13/60—Velocity or trajectory determination systems; Sense-of-movement determination systems wherein the transmitter and receiver are mounted on the moving object, e.g. for determining ground speed, drift angle, ground track
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
- G06F17/16—Matrix or vector computation, e.g. matrix-matrix or matrix-vector multiplication, matrix factorization
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N5/00—Computing arrangements using knowledge-based models
- G06N5/02—Knowledge representation; Symbolic representation
- G06N5/022—Knowledge engineering; Knowledge acquisition
-
- 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
- G01S13/589—Velocity or trajectory determination systems; Sense-of-movement determination systems measuring the velocity vector
-
- 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
- G01S13/726—Multiple target tracking
-
- 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
-
- 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
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the 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
- G01S2013/9327—Sensor installation details
- G01S2013/93274—Sensor installation details on the side of the 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
- G01S7/285—Receivers
- G01S7/292—Extracting wanted echo-signals
- G01S7/2921—Extracting wanted echo-signals based on data belonging to one radar period
-
- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
- G01S7/285—Receivers
- G01S7/295—Means for transforming co-ordinates or for evaluating data, e.g. using computers
- G01S7/2955—Means for determining the position of the radar coordinate system for evaluating the position data of the target in another coordinate system
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Mathematical Physics (AREA)
- Theoretical Computer Science (AREA)
- Data Mining & Analysis (AREA)
- General Engineering & Computer Science (AREA)
- Mathematical Analysis (AREA)
- Software Systems (AREA)
- Pure & Applied Mathematics (AREA)
- Mathematical Optimization (AREA)
- Computing Systems (AREA)
- Computational Mathematics (AREA)
- Databases & Information Systems (AREA)
- Algebra (AREA)
- Artificial Intelligence (AREA)
- Computational Linguistics (AREA)
- Evolutionary Computation (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Description
Claims (14)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210456902.0A CN114660330B (zh) | 2018-08-16 | 2019-08-14 | 确定估计速度的不确定性估计的方法 |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP18189410.6 | 2018-08-16 | ||
EP18189410.6A EP3611541B1 (en) | 2018-08-16 | 2018-08-16 | Method of determining an uncertainty estimate of an estimated velocity |
CN201910747166.2A CN110836983B (zh) | 2018-08-16 | 2019-08-14 | 确定估计速度的不确定性估计的方法 |
CN202210456902.0A CN114660330B (zh) | 2018-08-16 | 2019-08-14 | 确定估计速度的不确定性估计的方法 |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201910747166.2A Division CN110836983B (zh) | 2018-08-16 | 2019-08-14 | 确定估计速度的不确定性估计的方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN114660330A CN114660330A (zh) | 2022-06-24 |
CN114660330B true CN114660330B (zh) | 2024-02-13 |
Family
ID=63490187
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201910747166.2A Active CN110836983B (zh) | 2018-08-16 | 2019-08-14 | 确定估计速度的不确定性估计的方法 |
CN202210456902.0A Active CN114660330B (zh) | 2018-08-16 | 2019-08-14 | 确定估计速度的不确定性估计的方法 |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201910747166.2A Active CN110836983B (zh) | 2018-08-16 | 2019-08-14 | 确定估计速度的不确定性估计的方法 |
Country Status (3)
Country | Link |
---|---|
US (2) | US11435375B2 (zh) |
EP (1) | EP3611541B1 (zh) |
CN (2) | CN110836983B (zh) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3415945B1 (en) | 2017-06-12 | 2024-01-10 | Aptiv Technologies Limited | Method of determining the yaw rate of a target vehicle |
JP6661695B2 (ja) * | 2018-05-09 | 2020-03-11 | 三菱電機株式会社 | 移動体検出装置、車両制御システム、移動体検出方法および車両制御方法 |
EP3572839A1 (en) | 2018-05-23 | 2019-11-27 | Aptiv Technologies Limited | Method of estimating a velocity magnitude of a moving target in a horizontal plane and radar detection system |
EP3575827A1 (en) | 2018-06-01 | 2019-12-04 | Aptiv Technologies Limited | Method for robust estimation of the velocity of a target using a host vehicle |
DE102018211240A1 (de) * | 2018-07-07 | 2020-01-09 | Robert Bosch Gmbh | Verfahren zum Klassifizieren einer Relevanz eines Objekts |
US11460568B2 (en) * | 2019-08-29 | 2022-10-04 | Zoox, Inc. | Estimating in-plane velocity from an arbitrary radar return |
US11609321B2 (en) * | 2020-02-19 | 2023-03-21 | Zoox, Inc. | Radar-tracked object velocity and/or yaw |
DE102020215424A1 (de) * | 2020-12-07 | 2022-06-09 | Robert Bosch Gesellschaft mit beschränkter Haftung | Verfahren zur Bestimmung eines Eigengeschwindigkeits-Schätzwerts und eines Winkel-Schätzwerts von Zielen |
US12013456B2 (en) * | 2022-07-22 | 2024-06-18 | Numerica Corporation | Multi-target detection using convex sparsity prior |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1975646A2 (en) * | 2007-03-28 | 2008-10-01 | Honeywell International Inc. | Lader-based motion estimation for navigation |
EP2068173A1 (de) * | 2007-12-04 | 2009-06-10 | Robert Bosch GmbH | Verfahren zur Messung von Querbewegungen in einem Fahrerassistenzsystem |
CN102680977A (zh) * | 2006-09-28 | 2012-09-19 | 德立文亚迪仪器公司 | 用相控阵换能器进行声波多普勒速度处理的***和方法 |
CN106053879A (zh) * | 2015-04-07 | 2016-10-26 | 通用汽车环球科技运作有限责任公司 | 通过数据融合的失效操作的车辆速度估计 |
CN106560728A (zh) * | 2015-10-06 | 2017-04-12 | 通用汽车环球科技运作有限责任公司 | 用于目标速度估算的雷达视觉融合 |
DE102017102269A1 (de) * | 2016-02-12 | 2017-08-17 | Gm Global Technology Operations, Llc | Neigungs- und fehlausrichtungsausgleich für 6-dof-imu unter verwendung von gnss-/ins-daten |
CN107192409A (zh) * | 2016-03-14 | 2017-09-22 | 通用汽车环球科技运作有限责任公司 | 自动传感器姿态估计的方法 |
EP3285230A1 (en) * | 2016-08-19 | 2018-02-21 | Autoliv Development AB | Enhanced object detection and motion estimation for a vehicle environment detection system |
CN108139422A (zh) * | 2015-08-10 | 2018-06-08 | 尼拉动力公司 | 速度估计 |
Family Cites Families (37)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5964822A (en) | 1997-08-27 | 1999-10-12 | Delco Electronics Corp. | Automatic sensor azimuth alignment |
US6925370B2 (en) | 2003-10-06 | 2005-08-02 | Delphi Technologies, Inc. | Automotive system including a back-up aid with parking assist |
US7831354B2 (en) | 2004-03-23 | 2010-11-09 | Continental Teves, Inc. | Body state estimation of a vehicle |
KR20080007780A (ko) | 2006-07-18 | 2008-01-23 | 현대자동차주식회사 | 어댑티브 크루즈 컨트롤 시스템의 레이더 조향장치 |
GB2462148A (en) | 2008-07-31 | 2010-02-03 | Mitsubishi Electric Inf Tech | Automotive FMCW radar with multiple frequency chirps |
US20100178934A1 (en) * | 2009-01-13 | 2010-07-15 | Qualcomm Incorporated | Environment-specific measurement weighting in wireless positioning |
JP4827956B2 (ja) | 2009-09-18 | 2011-11-30 | 三菱電機株式会社 | 車載用レーダ装置 |
DE102009057191A1 (de) | 2009-12-05 | 2011-06-09 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum eindeutigen Bestimmen einer Entfernung und/oder einer relativen Geschwindigkeit eines Objektes, Fahrerassistenzeinrichtung und Kraftfahrzeug |
CN102822881B (zh) | 2010-04-05 | 2015-04-29 | 丰田自动车株式会社 | 车辆的碰撞判定装置 |
WO2012001896A1 (ja) | 2010-06-29 | 2012-01-05 | 本田技研工業株式会社 | 車両の進行路推定装置 |
DE102012224125B4 (de) | 2012-01-02 | 2024-03-07 | Ford Global Technologies, Llc | Verfahren zur Spurhalteunterstützung eines Fahrers eines Kraftfahrzeugs und Spurhalteassistenzsystem |
US8457891B1 (en) | 2012-06-19 | 2013-06-04 | Honeywell International Inc. | Systems and methods for compensating nonlinearities in a navigational model |
US9187091B2 (en) | 2012-07-30 | 2015-11-17 | Ford Global Technologies, Llc | Collision detection system with a plausibiity module |
US9212869B1 (en) * | 2013-03-14 | 2015-12-15 | Lockheed Martin Corporation | Passive range estimating engagement system and method |
JP5905846B2 (ja) | 2013-03-29 | 2016-04-20 | 株式会社日本自動車部品総合研究所 | 横断判定装置およびプログラム |
US9864046B2 (en) | 2013-06-15 | 2018-01-09 | Howard University | Using an MM-principle to enforce a sparsity constraint on fast image data estimation from large image data sets |
DE102013011239A1 (de) | 2013-07-05 | 2015-01-08 | Daimler Ag | Verfahren zur Bestimmung einer Bewegung eines Objekts |
KR101528882B1 (ko) | 2013-07-19 | 2015-06-15 | 현대모비스 주식회사 | 요 레이트 센서의 오프셋 보정 장치와 방법 및 상기 장치를 구비하는 차량 속도 제어 시스템 |
CA2824703C (en) | 2013-08-26 | 2021-03-16 | Alastair Malarky | Methods and systems for determining vehicle position in an automatic vehicle identification system |
DE102013018310A1 (de) | 2013-10-31 | 2015-04-30 | Daimler Ag | Verfahren zur Bestimmung einer Bewegung eines Objekts |
DE102013019804A1 (de) | 2013-11-27 | 2015-05-28 | Daimler Ag | Verfahren zur Ermittlung einer Bewegung eines Objekts |
JP6248593B2 (ja) | 2013-12-06 | 2017-12-20 | 富士通株式会社 | 姿勢検出装置、姿勢検出方法および姿勢検出プログラム |
DE102015101292A1 (de) | 2015-01-29 | 2016-08-04 | Valeo Schalter Und Sensoren Gmbh | Verfahren zum Erfassen eines Objekts in einem Umgebungsbereich eines Kraftfahrzeugs durch Überprüfen einer räumlichen Abweichung von Messpunkten, Steuereinrichtung, Fahrerassistenzsystem sowie Kraftfahrzeug |
US9903945B2 (en) | 2015-02-04 | 2018-02-27 | GM Global Technology Operations LLC | Vehicle motion estimation enhancement with radar data |
US9983301B2 (en) | 2015-10-02 | 2018-05-29 | Delphi Technologies, Inc. | Automated vehicle radar system to determine yaw-rate of a target vehicle |
US10565468B2 (en) | 2016-01-19 | 2020-02-18 | Aptiv Technologies Limited | Object tracking system with radar/vision fusion for automated vehicles |
EP3252501B1 (en) | 2016-06-03 | 2022-06-08 | Veoneer Sweden AB | Enhanced object detection and motion state estimation for a vehicle environment detection system |
US10286916B2 (en) | 2016-06-20 | 2019-05-14 | Aptiv Technologies Limited | Trailer estimation and blind spot information system performance improvement |
US10351146B2 (en) | 2016-06-20 | 2019-07-16 | Aptiv Technologies Limited | Trailer estimation improvement |
US10114106B2 (en) | 2016-07-22 | 2018-10-30 | Delphi Technologies, Inc. | Automated vehicle radar system with auto-alignment for azimuth, elevation, and vehicle speed-scaling-error |
CN106372278A (zh) | 2016-08-19 | 2017-02-01 | 电子科技大学 | 一种联合考虑输入参数不确定性和代理模型不确定性的灵敏度分析方法 |
EP3415945B1 (en) | 2017-06-12 | 2024-01-10 | Aptiv Technologies Limited | Method of determining the yaw rate of a target vehicle |
EP3415948B1 (en) | 2017-06-12 | 2021-11-10 | Aptiv Technologies Limited | A method of determining the de-aliased range rate of a target |
EP3422042B1 (en) | 2017-06-29 | 2020-03-18 | Aptiv Technologies Limited | Method to determine the orientation of a target vehicle |
EP3572839A1 (en) | 2018-05-23 | 2019-11-27 | Aptiv Technologies Limited | Method of estimating a velocity magnitude of a moving target in a horizontal plane and radar detection system |
US10955547B2 (en) | 2018-05-24 | 2021-03-23 | The Boeing Company | Combined radar and communications system using common signal waveform |
EP3575827A1 (en) | 2018-06-01 | 2019-12-04 | Aptiv Technologies Limited | Method for robust estimation of the velocity of a target using a host vehicle |
-
2018
- 2018-08-16 EP EP18189410.6A patent/EP3611541B1/en active Active
-
2019
- 2019-08-06 US US16/532,810 patent/US11435375B2/en active Active
- 2019-08-14 CN CN201910747166.2A patent/CN110836983B/zh active Active
- 2019-08-14 CN CN202210456902.0A patent/CN114660330B/zh active Active
-
2022
- 2022-07-20 US US17/813,701 patent/US11994531B2/en active Active
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN102680977A (zh) * | 2006-09-28 | 2012-09-19 | 德立文亚迪仪器公司 | 用相控阵换能器进行声波多普勒速度处理的***和方法 |
EP1975646A2 (en) * | 2007-03-28 | 2008-10-01 | Honeywell International Inc. | Lader-based motion estimation for navigation |
EP2068173A1 (de) * | 2007-12-04 | 2009-06-10 | Robert Bosch GmbH | Verfahren zur Messung von Querbewegungen in einem Fahrerassistenzsystem |
CN106053879A (zh) * | 2015-04-07 | 2016-10-26 | 通用汽车环球科技运作有限责任公司 | 通过数据融合的失效操作的车辆速度估计 |
CN108139422A (zh) * | 2015-08-10 | 2018-06-08 | 尼拉动力公司 | 速度估计 |
CN106560728A (zh) * | 2015-10-06 | 2017-04-12 | 通用汽车环球科技运作有限责任公司 | 用于目标速度估算的雷达视觉融合 |
DE102017102269A1 (de) * | 2016-02-12 | 2017-08-17 | Gm Global Technology Operations, Llc | Neigungs- und fehlausrichtungsausgleich für 6-dof-imu unter verwendung von gnss-/ins-daten |
CN107192409A (zh) * | 2016-03-14 | 2017-09-22 | 通用汽车环球科技运作有限责任公司 | 自动传感器姿态估计的方法 |
EP3285230A1 (en) * | 2016-08-19 | 2018-02-21 | Autoliv Development AB | Enhanced object detection and motion estimation for a vehicle environment detection system |
Non-Patent Citations (2)
Title |
---|
基于多个多普勒雷达的加速度和速度估计;李小毛;刘兆磊;汪圣利;;现代雷达(第01期);全文 * |
频率步进雷达目标运动参数估计的新方法;吴晓芳;代大海;王雪松;卢焕章;;信号处理(第07期);全文 * |
Also Published As
Publication number | Publication date |
---|---|
EP3611541B1 (en) | 2024-07-03 |
EP3611541A1 (en) | 2020-02-19 |
US11435375B2 (en) | 2022-09-06 |
CN114660330A (zh) | 2022-06-24 |
US20200057090A1 (en) | 2020-02-20 |
US11994531B2 (en) | 2024-05-28 |
US20220373572A1 (en) | 2022-11-24 |
CN110836983B (zh) | 2022-05-17 |
CN110836983A (zh) | 2020-02-25 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN114660330B (zh) | 确定估计速度的不确定性估计的方法 | |
CN110531357B (zh) | 估计移动目标在水平面中速度大小的方法和雷达检测*** | |
CN109212531B (zh) | 确定目标车辆取向的方法 | |
US10634766B2 (en) | Method of determining the de-aliased range rate of a target | |
CN110554388B (zh) | 利用主车辆对目标的速度进行鲁棒估计的方法 | |
EP3654064B1 (en) | Apparatus and method for characterizing an object based on measurement samples from one or more location sensors | |
JP5964509B2 (ja) | 車両用レーダセンサのミスアライメント処理 | |
CN102463990B (zh) | 用于跟踪物体的***和方法 | |
CN112083441B (zh) | 激光雷达和毫米波雷达深度融合的障碍物检测方法及*** | |
US20220136823A1 (en) | Estimation of the trailer position relative to truck position and articulation angle between truck and trailer using an electromagnetic or optical sensor | |
CN112710339A (zh) | 用于校准车辆传感器的方法和设备 | |
CN110658390B (zh) | 利用天线和检测装置确定天线和车辆的对准误差的方法 | |
US20200118285A1 (en) | Device and method for determining height information of an object in an environment of a vehicle | |
CN113702931B (zh) | 一种车载雷达的外参标定方法、装置及存储介质 | |
EP3654065B1 (en) | Apparatus and method for characterizing an object based on measurement samples from one or more location sensors | |
CN110909569B (zh) | 路况信息识别方法及终端设备 | |
Bithar et al. | Application of collision probability estimation to calibration of advanced driver assistance systems | |
US20240111021A1 (en) | System and method for radar calibration | |
US12024178B2 (en) | Evaluating locating measurements of a surroundings sensor for a motor vehicle | |
US20240111043A1 (en) | System and method for radar static-dynamic segmentation | |
JP4730832B2 (ja) | 車載レーダ装置 | |
CN115222766A (zh) | 估计对象速度的方法和装置 | |
Van Crombrugge et al. | Fast Ground Detection for Range Cameras on Road Surfaces Using a Three-Step Segmentation | |
Gunnarsson et al. | Instantaneous full motion estimation using low level radar measurements | |
US20210403005A1 (en) | Evaluating locating measurements of a surroundings sensor for a motor vehicle |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20240308 Address after: Luxembourg Patentee after: Aptiv Manufacturing Management Services Co. Country or region after: Luxembourg Address before: Babado J San Michael Patentee before: Aptiv Technologies Ltd. Country or region before: Barbados |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20240320 Address after: Schaffhausen Patentee after: APTIV Technology Co.,Ltd. Country or region after: Switzerland Address before: Luxembourg Patentee before: Aptiv Manufacturing Management Services Co. Country or region before: Luxembourg |
|
TR01 | Transfer of patent right |