Aptiv Technologies Limited

Aptiv Technologies Ag

Mateusz Stachnik

Dariusz Cieslar

Krzysztof Kogut

Maciej Rózewicz

Mateusz Orlowski

Maciej Rozewicz

Krysztof Kogut

A method is provided for estimating a velocity of an object located in the environment of a vehicle. Detections of a range, an azimuth angle and a range rate of the object are acquired for at least two different points in time via a sensor. A cost function is generated which depends on a first source and a second source. The first source is based on a range rate velocity profile which depends on the range rate and the azimuth angle, and the first source depends on an estimated accuracy for the first source. The second source is based on a position difference which depends on the range and the azimuth angle for the at least two different points in time, and the second source depends on an estimated accuracy for the second source. By minimizing the cost function, a velocity estimate is determined for the object.

Method and device for estimating a velocity of an object

A method of determining an uncertainty estimate of an estimated velocity of an object includes, determining the uncertainty with respect to a first estimated coefficient and a second estimated coefficient of the velocity profile equation of the object. The first estimated coefficient being assigned to a first spatial dimension of the estimated velocity and the second estimated coefficient being assigned to a second spatial dimension of the estimated velocity. The velocity profile equation represents the estimated velocity in dependence of the first estimated coefficient and the second estimated coefficient. The method also includes determining the uncertainty with respect to an angular velocity of the object, a first coordinate of the object in the second spatial dimension, and a second coordinate of the object in the first spatial dimension.

Method of determining an uncertainty estimate of an estimated velocity

This disclosure describes a radar system configured to estimate a yaw-rate and an over-the-ground (OTG) velocity of extended targets in real-time based on raw radar detections. This disclosure further describes techniques for determining instantaneous values of lateral velocity, longitudinal velocity, and yaw rate of points of a rigid body in a radar field-of-view (FOV) of the radar system.

Method of determining the yaw rate of a target vehicle

The present invention relates to a method of estimating a velocity magnitude of a moving target in a horizontal plane using radar signals received by a radar detection system, the radar detection system being configured to resolve multiple dominant points of reflection, i.e. to receive a plurality of radar signals from the moving target in a single measurement instance of a single, wherein each of the resolved points of reflection is described by data relating to a range, an azimuth angle and a raw range rate of the points of reflection in said single radar measurement instance. The invention further relates to a radar detection system.

Method of estimating a velocity magnitude of a moving target in a horizontal plane and radar detection system

A method for estimating a velocity of a target using a host vehicle equipped with a radar system includes determining a plurality of radar detection points, determining a compensated range rate, and determining an estimation of a first component of a velocity profile equation of the target and an estimation of a second component of the velocity profile equation of the target by using an iterative methodology comprising at least one iteration. The estimations and of the first and second components and of the velocity profile equation are not determined from a further iteration if at least one statistical measure representing the deviation of an estimated dispersion of the estimations and of the first and second components, and of a current iteration from a previous iteration and/or the deviation of an estimated dispersion of the residual from a predefined dispersion of the range rate meets a threshold condition.

Method for robust estimation of the velocity of a target using a host vehicle

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 (&#x3b2;); 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 &#x394;i, where the correction angle is such that applied to the reference angle it gives an orientation candidate angle &#x3b3;i; e) in respect of each orientation candidate angle &#x3b3;i/correction angle &#x394;i, determining a cost function; and f) selecting that orientation candidate angle having the lowest cost function.

Method to determine the orientation of a target vehicle

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; [&#x3b8;, {dot over (r)}]; for each point detection determining a range rate compensated value ({dot over (r)}); c) determining a plurality (j) of velocity profile hypotheses; for each (j-th) hypothesis determining modified compensated hypothesis range rates ({dot over (r)}) in respect of each point detection on the target, based on the values of range rate compensated ({dot over (r)}); for each j-th hypothesis, determining values of the longitudinal and lateral components of the range rate equation of the target {tilde over (c)}and +{tilde over (s)}; for each j-th hypothesis and for each point detection determining a velocity profile estimator range rate ({dot over ({circumflex over (r)})}); 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)})}) for each velocity profile hypothesis and their respective modified range rates ({dot over ({circumflex over (r)})}) from step d), or the dispersion of, or variation between, one or both of the velocity profile components {tilde over (c)}and {tilde over (s)}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.

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Gdow, Poland

Mateusz Stachnik