In an azimuth estimation device, a center generation unit configured to generate, for each peak bin extracted by the extraction unit, a center matrix which is a correlation matrix obtained using values of the same peak bin collected from all of transmitting/receiving channels. A surrounding generation unit is configured to generate, for each of one or more surrounding bins of each of the peak bins, a surrounding matrix which is a correlation matrix obtained using values of the same surrounding bin collected from all of the transmitting/receiving channels. An integration unit is configured to generate, for each peak bin, an integrated matrix which is a correlation matrix obtained by weighting and adding the center matrix and the one or more surrounding matrices. An estimation unit is configured to execute an azimuth estimation calculation using the integrated matrix generated by the integration unit.

The present disclosure provides a continuous obstacle detection method applied to a vehicle having a radar including an antenna configured to receive an echo signal. The method includes obtaining the echo signal at a current instance, and generating detection data at the current instance based on the echo signal; determining a plurality of stationary target points detected by the radar at the current instance based on the detection data at the current instance and vehicle information of the vehicle at the current instance; and determining a continuous obstacle trajectory at the current instance based on the plurality of stationary target points detected by the radar at the current instance.

In some embodiments, a non-transitory computer-readable storage medium includes instructions to identify, based upon Doppler-speed determination from one or more radars, radar targets within a hitbox for determining a first stationary status of a vehicle based on tracking Doppler-speed radar targets in a hitbox region. The medium also includes instructions to identify, based upon the Doppler speed determination from the one or more radars, field-of-view (FOV) radar targets for determining a second stationary status based on a substantial number and a distribution of Doppler-speed determinations for the FOV radar targets. The medium also includes instructions to confirm, based on detecting a change in either of the first or the second stationary status of the vehicle, an acceleration sensed by an inertial measurement unit onboard the vehicle.

A radar sensing system for estimating one or more of a vehicle's wheel parameters, including an antenna subsystem comprising one or more RF (Radio Frequency) antennas configured and enabled to transmit one or more RF signals from at least one RF antenna towards one or more selected directions or points and obtain reflected or affected plurality of RF signals from the one or more selected directions or points, a data acquisition subsystem configured and enabled to measure the axle-to-ground clearance and the axle-to-chassis clearance, and one or more processors configured and enabled to estimate the one or more of the vehicle's wheel parameters.

A radar sensing system for estimating one or more of a vehicle's wheel parameters, including an antenna subsystem comprising one or more RF (Radio Frequency) antennas configured and enabled to transmit one or more RF signals from at least one RF antenna towards one or more selected directions or points and obtain reflected or affected plurality of RF signals from the one or more selected directions or points, a data acquisition subsystem configured and enabled to measure the axle-to-ground clearance and the axle-to-chassis clearance, and one or more processors configured and enabled to estimate the one or more of the vehicle's wheel parameters.

A system and method of supervising vehicle positioning of a vehicle along a guideway where the vehicle comprising a supervisory controller, at least two controllers communicatively connected with the supervisory controller, an inertial measurement unit (IMU) and a speed measurement sensor includes receiving, by the controllers, speed measurements from the speed measurement sensor and motion measurements from the inertial measurement unit. The two controllers each estimate the along-track position of the vehicle using a track constrained UKF function based on the received speed measurements and motion measurements. The system executes protection level and protection level supervision functions on the supervisory controller to validate the along-track position estimates. The protection level supervision function uses a Stanford diagram verification technique.

An estimation device includes an information acquisition unit, a detection determination unit, a direction determination unit, and a direction estimation unit. When an object is a first-time detected object, the direction determination unit determines whether a relative direction acquired by the information acquisition unit is a direction toward an own vehicle. When the relative direction acquired by the information acquisition unit is a direction toward the own vehicle, the direction estimation unit estimates that a direction predetermined according to an object position acquired by the information acquisition unit is the movement direction of the object.

An estimation device includes an information acquisition unit, a detection determination unit, a direction determination unit, and a direction estimation unit. When an object is a first-time detected object, the direction determination unit determines whether a relative direction acquired by the information acquisition unit is a direction toward an own vehicle. When the relative direction acquired by the information acquisition unit is a direction toward the own vehicle, the direction estimation unit estimates that a direction predetermined according to an object position acquired by the information acquisition unit is the movement direction of the object.

Systems and methods are provided for vehicle navigation. In one implementation, a system may comprise an interface to obtain sensing data of an environment of the host vehicle. A processing device may be configured to determine a planned navigational action for the host vehicle; identify a target vehicle in the environment of the host vehicle; predict a following distance between the host vehicle and the target vehicle that would result if the planned navigational action was taken; determine a host vehicle braking distance based on a braking capability, acceleration capability, and speed of the host vehicle; determine a target vehicle braking distance, based on a speed and maximum braking capability of the target vehicle; and implement the planned navigational action when the predicted following distance is greater than a minimum safe longitudinal distance based on the determined host vehicle braking distance and the determined target vehicle braking distance.

Systems and methods are provided for vehicle navigation. In one implementation, a processing device may be configured to obtain a planned driving action for accomplishing a navigational goal of a host vehicle; receive sensor data from an environment surrounding the host vehicle; identify a target vehicle moving in the environment and a velocity of the target vehicle; calculate, a predicted trajectory for the target vehicle; calculate a planned trajectory for the host vehicle corresponding to the planned driving action; identify an intersection of the planned trajectory for the host vehicle with the predicted trajectory for the target vehicle; determine a braking action of the host vehicle to comply with a safety requirement; and cause the braking action to be applied to decelerate the host vehicle to change the planned trajectory of the host vehicle, until the planned trajectory does not intersect the predicted trajectory of the target vehicle.