Radar, lidar, and camera-assisted vehicle dynamics estimation methods

摘要

A system (10) for estimating vehicle dynamics in a vehicle (26), the system (10) comprising: an object detection sensor (12) for detecting stationary objects relative to vehicle motion, the object detection sensor (12) providing object detection signals for tracking the object; a plurality of vehicle-mounted sensors (20) providing sensor signals representing vehicle motion; an association processor (14) responsive to the object signals, the association processor (14) for tracking the object aligning the object signals of successive views and providing object tracking signals; a longitudinal state estimation processor (16) responsive to the object tracking signals and the sensor signals and providing an estimate of the vehicle speed in the forward direction relative to vehicle motion; and a lateral state estimation processor (18) responsive to the object tracking signals and the sensor signals, the lateral state estimation processor estimating the vehicle speed in the lateral direction relative to the vehicle motion; characterized in that the longitudinal state estimation processor (16) receives vehicle longitudinal position, vehicle longitudinal velocity, vehicle longitudinal acceleration, and vehicle speed object and sensor signals, and uses a Kalman filter and autoregressive noise model to obtain a corrected longitudinal acceleration, a corrected longitudinal acceleration To provide vehicle speed and a wheel slip signal; and / or that the lateral state estimation processor (18) receives object and sensor signals of the azimuth angle and lateral displacement of an object and the steering wheel angle, yaw rate, and lateral acceleration of the vehicle, and uses a Kalman filter and autoregressive noise model to provide yaw rate correction To provide lateral acceleration correction and a lateral speed of the vehicle.