Communications: directive radio wave systems and devices (e.g. – Return signal controls external device – Radar mounted on and controls land vehicle
Reexamination Certificate
2006-04-25
2006-04-25
Tarcza, Thomas H. (Department: 3662)
Communications: directive radio wave systems and devices (e.g.,
Return signal controls external device
Radar mounted on and controls land vehicle
C342S072000, C342S073000, C342S090000, C342S107000, C342S195000
Reexamination Certificate
active
07034742
ABSTRACT:
A first Kalman filter estimates true measures of yaw rate and vehicle speed from associated noisy measures thereof generated by respective sensors in a host vehicle, and a second Kalman filter estimates therefrom parameters of a clothoid model of road curvature. Measures of range, range rate, and azimuth angle from a target state estimation subsystem, e.g. a radar system, are processed by an extended Kalman filter to provide an unconstrained estimate of the state of a target vehicle. Associated road constrained target state estimates are generated for one or more roadway lanes, and are compared—either individually or in combination—with the unconstrained estimate. If a constrained target state estimate corresponds to the unconstrained estimate, then the state of the target vehicle is generated by fusing the unconstrained and constrained estimates; and otherwise is given by the unconstrained estimate alone.
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Cong Shan
Hong Lang
Shen Shi
Alsomiri Isam
Automotive Systems Laboratory Inc.
Raggio & Dinnin, P.C.
Tarcza Thomas H.
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