	US 12,105,183 B2
	Method for determining a movement vector of a motor vehicle, method for determining a speed of the vehicle and associated vehicle
Guillermo Pita-Gil, Versailles (FR); Romain Saussard, Massy (FR); and Salim Zair, Massy (FR)
Assigned to AMPERE s.a.s., Boulogne-Billancourt (FR)
Appl. No. 17/288,725
Filed by RENAULT s.a.s., Boulogne-Billancourt (FR)
PCT Filed Oct. 29, 2019, PCT No. PCT/EP2019/079534 § 371(c)(1), (2) Date Apr. 26, 2021, PCT Pub. No. WO2020/089231, PCT Pub. Date May 7, 2020.
Claims priority of application No. 1860106 (FR), filed on Oct. 31, 2018.
Prior Publication US 2021/0396864 A1, Dec. 23, 2021
Int. Cl. G01S 13/58 (2006.01); G01S 13/60 (2006.01); G01S 13/72 (2006.01); G01S 13/931 (2020.01)

CPC G01S 13/60 (2013.01) [G01S 13/588 (2013.01); G01S 13/589 (2013.01); G01S 13/726 (2013.01); G01S 13/931 (2013.01); G01S 2013/93271 (2020.01)]

10 Claims

1. A method for determining a displacement vector of a motor vehicle, comprising:

a) determining, via a radar system fitted to the vehicle, positions, with respect to the vehicle, at a given time, of elements in surroundings of the vehicle that are static with respect to a traffic lane in which the vehicle is moving,

wherein, with a) having been executed at a previous time in order to determine previous positions of said elements with respect to the vehicle, a) is executed again at a following time in order to determine following positions of said elements with respect to the vehicle;

b) associating, via processing circuitry, said previous positions, determined via the radar system fitted to the vehicle, with said following positions, determined via the radar system fitted to the vehicle, to form various pairs of positions each grouping together the previous position and the following position of a same element in the surroundings of the vehicle; and

c) determining, via the processing circuitry by linear regression, respective features of an overall translation and of an overall rotation that make it possible, for the pairs of positions formed in b), to match said previous positions with said following positions, and determining the displacement vector of the vehicle based on the features of said overall translation and rotation, wherein

b) comprises: b1) for various feasible pairs of positions each grouping together one of the following positions and one of the previous positions, determining an individual cost, associated with the feasible pair of positions under consideration, based on the previous position and the following position of the feasible pair of positions.