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Systems and methods of vehicular path prediction for cooperative driving applications through digital map and dynamic vehicle model fusion

  • US 8,315,756 B2
  • Filed: 08/24/2009
  • Issued: 11/20/2012
  • Est. Priority Date: 08/24/2009
  • Status: Active Grant
First Claim
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1. A method of vehicular path prediction for a vehicle travelling on a road, comprising:

  • estimating a yaw rate of the vehicle over a prediction time period, by predicting the yaw rate for a time horizon corresponding to the prediction time period, based on vehicle sensor information and map information for the road; and

    predicting a future path of the vehicle on the road for the prediction time period based on a speed and a direction of the vehicle, and the estimated yaw rate.

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