Heading angle estimation for object tracking

Patent metadata

Field	Value
Publication number	US-11113824-B2
Application number	US-201916398745-A
Country	US
Kind code	B2
Filing date	Apr 30, 2019
Priority date	Apr 30, 2019
Publication date	Sep 7, 2021
Grant date	Sep 7, 2021

Abstract

An illustrative example method of tracking an object includes detecting one or more points on the object over time to obtain a plurality of detections, determining a position of each of the detections, determining a relationship between the determined positions, and determining an estimated heading angle of the object based on the relationship.

First claim

We claim:

1. A method of tracking a moving object at least partially in a pathway of a host vehicle, the method comprising:
detecting, with a ranging sensor of the host vehicle, one or more points on the moving object over time to obtain a plurality of detections;
determining, with a processor, a position of each of the detections of points on the moving object relative to a two-dimensional world coordinate system;
determining, with the processor, a spatial relationship between the determined positions of the detections of points on the moving object to define a shape that encompasses the determined positions and that is in the two-dimensional world coordinate system; and
determining, with the processor, an estimated heading angle of the moving object based on the spatial relationship and based on an orientation of the defined shape relative to the two-dimensional world coordinate system.

2. The method of claim 1 , wherein the defined shape is at least one of an arc, a line, or a rectangle.

3. The method of claim 1 , wherein determining the estimated heading angle is based on the determined orientation and range rate information regarding at least some of the detections.

4. The method of claim 1 , comprising detecting the one or more points at least until a distance spanned by the determined positions exceeds a preselected threshold distance.

5. The method of claim 1 , comprising using the determined estimated heading angle to correct a previously estimated heading angle of the object.

6. The method of claim 5 , wherein the previously estimated heading angle of the object is determined by a Kalman filter.

7. The method of claim 1 , wherein determining the estimated heading angle comprises using one or more of:
a likelihood estimation;
a least squares estimation;
a principle components analysis; and
a Hough transform.

8. The method of claim 1 , wherein the estimated heading angle defines a direction of motion of a reference point on the moving object relative to the host vehicle.

9. The method of claim 8 , wherein determining the estimated heading angle of the moving object includes:
defining an object body coordinate system for the defined shape, the object body coordinate system having a same origin as the two-dimensional world coordinate system and a longitudinal axis that is parallel to the estimated heading angle; and
determining a maximum likelihood estimation of the estimated heading angle using the object body coordinate system.

10. A device for tracking a moving object relative to a host vehicle, the device comprising:
a ranging sensor that detects one or more points on the moving object over time; and
a processor that is configured to:
determine a position of each of the detected one or more points on the moving object relative to a two-dimensional world coordinate system;
determine a spatial relationship between the determined positions of the detected one or more points on the moving object to define a shape that encompasses the determined positions and that is in the two-dimensional world coordinate system; and
determine an estimated heading angle of the moving object based on the spatial relationship and based on an orientation of the defined shape relative to the two-dimensional world coordinate system.

11. The device of claim 10 , wherein the processor is configured to determine the estimated heading angle based on the determined orientation and range rate information regarding at least some of the detected one or more points.

12. The device of claim 10 , comprising a Kalman filter that outputs an initial estimated heading angle of the moving object and wherein the
processor is configured to provide the determined estimated heading angle to the Kalman filter to correct the initial estimated heading angle of the moving object.

13. The device of claim 10 , wherein the processor is configured to determine the estimated heading angle using one or more of:
a likelihood estimation;
a least squares estimation;
a principle components analysis; and
a Hough transform.

14. The device of claim 10 , wherein the device is configured to operate in a vehicle that operates on a roadway.

15. The device of claim 14 , wherein the moving object is another vehicle traveling on the roadway proximate to the vehicle.

16. The device of claim 10 , wherein:
the estimated heading angle defines a direction of motion of a reference point on the moving object relative to the host vehicle;
the estimated heading angle of the moving object is determined based on:
an object body coordinate system defined for the defined shape, the object body coordinate system having a same origin as the two-dimensional world coordinate system and a longitudinal axis that is parallel to the estimated heading angle; and
a determination of a maximum likelihood estimation of the estimated heading angle based on the object body coordinate system.

17. A device for tracking a moving object relative to a host vehicle, the device comprising:
detection means for detecting one or more points on the moving object over time; and
determining means for determining a position of each of the detected one or more points on the moving object relative to a two-dimensional world coordinate system;
determining a spatial relationship between the determined positions of the detected one or more points on the moving object to define a shape that encompasses the determined positions and that is in the two-dimensional world coordinate system; and
determining an estimated heading angle of the moving object based on the spatial relationship and based on an orientation of the defined shape relative to the two-dimensional world coordinate system.

18. The device of claim 17 , wherein the defined shape is at least one of an arc, a line, or a rectangle.

19. The device of claim 17 , wherein the determining means determines the estimated heading angle based on the determined orientation and range rate information regarding at least some of the detected one or more points.

20. The device of claim 17 , wherein a distance spanned by the determined positions exceeds a preselected threshold distance.

Assignees

• Aptiv Tech Ltd

Inventors

• Dang Wenbing
• Schiffmann Jan K
• Vishwajeet Kumar
• Chen Susan

Classifications

• G06T7/60

  Analysis of geometric attributes · CPC title

• G01S2013/9321

  Velocity regulation, e.g. cruise control · CPC title

• G01S2013/9324

  Alternative operation using ultrasonic waves · CPC title

• G06T7/50

  Depth or shape recovery · CPC title

• G01S2013/93271

  in the front of the vehicles · CPC title