Road curvature estimation system
First Claim
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1. A road curvature estimation system, comprising:
- a. a speed sensor adapted to measure a longitudinal speed of a vehicle on a roadway and to generate a measure of longitudinal speed responsive thereto;
b. a source of a measure of yaw rate of said vehicle; and
c. a processor operatively coupled to said speed sensor and to said source of said measure of yaw rate, wherein said processor comprises a plurality of curvature estimators associated with a corresponding plurality of different roadway models, each said curvature estimator is adapted to estimate at least one associated curvature parameter of a corresponding said different roadway model, said processor provides for selecting a most likely of said different roadway models as a most likely roadway model, and said processor provides for outputting said at least one curvature parameter of said most likely roadway model as an estimate of curvature of said roadway.
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Abstract
A processor operatively coupled to a speed sensor adapted to generate a measure of a longitudinal speed of a vehicle on a roadway, and to a source of a measure of yaw rate of the vehicle, provides for selecting a most likely roadway model of a plurality of different roadway models and for outputting a corresponding associated at least one curvature parameter as an estimate of curvature of the roadway, wherein the processor incorporates a plurality of curvature estimators associated with the corresponding plurality of different roadway models.
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Citations
4 Claims
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1. A road curvature estimation system, comprising:
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a. a speed sensor adapted to measure a longitudinal speed of a vehicle on a roadway and to generate a measure of longitudinal speed responsive thereto; b. a source of a measure of yaw rate of said vehicle; and c. a processor operatively coupled to said speed sensor and to said source of said measure of yaw rate, wherein said processor comprises a plurality of curvature estimators associated with a corresponding plurality of different roadway models, each said curvature estimator is adapted to estimate at least one associated curvature parameter of a corresponding said different roadway model, said processor provides for selecting a most likely of said different roadway models as a most likely roadway model, and said processor provides for outputting said at least one curvature parameter of said most likely roadway model as an estimate of curvature of said roadway. - View Dependent Claims (2, 3, 4)
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Specification