Systems and methods of vehicular path prediction for cooperative driving applications through digital map and dynamic vehicle model fusion
First Claim
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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Abstract
Method and system of vehicular path prediction for a vehicle travelling on a road. A yaw rate of the vehicle is estimated over a prediction time period based on vehicle sensor information and map information for the road. Then, a further path of the vehicle on the road is predicted for the prediction time period based on a speed and a direction of the vehicle, and the estimated yaw rate. Map information includes a geometry for a portion of the road on which the vehicle is travelling, and the vehicle sensor information includes yaw rate information from a yaw rate sensor on the vehicle, and location information of the vehicle relative to the map information from a positioning device on the vehicle. A vehicle provided for path prediction includes a communication system for transmitting the predicted path to other vehicles for collision avoidance.
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Citations
20 Claims
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1. A method of vehicular path prediction for a vehicle travelling on a road, comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A vehicle, comprising:
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a yaw rate sensor to produce yaw rate information of the vehicle; a positioning device to determine a global position of the vehicle relative to map information for a road; and a processing device to estimate 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 including the produced yaw rate information from the yaw rate sensor and the map information for the road, and further to predict 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. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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18. A computer readable medium, including computer executable instructions, wherein the instructions, when executed by a processor, cause the processor to perform a method of vehicular path prediction for a vehicle travelling on a road, the method comprising:
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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. - View Dependent Claims (19, 20)
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Specification