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Methods and systems for scan matching approaches for vehicle heading estimation

  • US 9,043,069 B1
  • Filed: 11/07/2012
  • Issued: 05/26/2015
  • Est. Priority Date: 11/07/2012
  • Status: Active Grant
First Claim
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1. A method comprising:

  • determining a first point cloud representative of a location of a target vehicle at a first time period;

    determining a second point cloud representative of the location of the target vehicle at a second time period;

    determining, using a computing device, an initial comparison between the first point cloud and the second point cloud based on an estimate of a speed for the target vehicle and a time difference between the first time period and the second time period;

    revising, using the computing device, the initial comparison based on a minimization of a distance between points of the first point cloud and corresponding points of the second point cloud;

    determining, using the computing device, an estimate of a heading of the target vehicle based on the revised comparison; and

    controlling another vehicle based on the determined estimate of the heading of the target vehicle.

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