US 12,065,147 B2
Method of simultaneously estimating movement and shape of target vehicle using preliminary distribution model of tracklet
Seul Ki Han, Seoul (KR); Dahye Ham, Gyeongsangbuk-do (KR); Boyoung Jung, Gyeongsangbuk-do (KR); Won-Sang Ra, Gyeongsangbuk-do (KR); and Ui-Suk Suh, Gyeongsangbuk-do (KR)
Assigned to Hyundai Motor Company, Seoul (KR); Kia Corporation, Seoul (KR); and Handong Global University Industry-Academic Cooperation Foundation, Gyeongsangbuk-do (KR)
Filed by Hyundai Motor Company, Seoul (KR); Kia Corporation, Seoul (KR); and Handong Global University Industry-Academic Cooperation Foundation, Pohang-si (KR)
Filed on Oct. 6, 2021, as Appl. No. 17/495,208.
Claims priority of application No. 10-2020-0128990 (KR), filed on Oct. 6, 2020.
Prior Publication US 2022/0105946 A1, Apr. 7, 2022
Int. Cl. B60W 40/04 (2006.01); B60W 50/00 (2006.01); G01C 21/16 (2006.01); G01S 13/931 (2020.01)
CPC B60W 40/04 (2013.01) [B60W 50/0097 (2013.01); G01C 21/1652 (2020.08); G01S 13/931 (2013.01); B60W 2050/0028 (2013.01); B60W 2554/4041 (2020.02); B60W 2554/4042 (2020.02); B60W 2554/4043 (2020.02); B60W 2554/4044 (2020.02); B60W 2554/801 (2020.02); B60W 2554/802 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method of simultaneously estimating a movement and shape of a target vehicle, the method being performed by a signal processing device configured to process signals emitted from a plurality of radars mounted at a host vehicle and reflected from the target vehicle, the method comprising:
defining an appearance point of at least one tracklet corresponding to a specific point of a target vehicle shape approximating a polygonal form in an orthogonal coordinate system and setting a coordinate function for a central point of the target vehicle with respect to each defined point to set a preliminary distribution model;
acquiring tracklet outputs from the plurality of radars;
if the at least one tracklet is located in a gate set based on the at least one tracklet appearance point, among the acquired tracklet outputs, selecting the at least one tracklet appearance point located in the gate as an associated tracklet;
creating a measurement equation based on the associated tracklet, a position of each of the at least one tracklet appearance point, and the coordinate function;
calculating an estimated value of a state variable of the target vehicle based on the state variable and the measurement equation to update the state variable; and
creating a predicted value of the target vehicle at a next point in time based on the calculated estimated value of the state variable and a target vehicle movement equation in a host vehicle coordinate system.