公开(公告)号：EP3537174A1

公开(公告)日：2019-09-11

申请号：EP19158588.4

申请日：2019-02-21

申请人： Aptiv Technologies Limited

发明人： SCHIFFMANN, Jan, K ,  DANG, Wenbing ,  VISHWAJEET, Kumar ,  NAGARAJA, Keerthi Raj ,  SCHIFFMANN, Franz P.

IPC分类号： G01S13/58 ,  G01S13/72 ,  G01S13/93 ,  G01S15/93 ,  G01S17/66 ,  G01S17/93 ,  G01S15/66

摘要： An illustrative example method of tracking a moving object includes determining a heading angle of a centroid of the object from a tracking device, determining a raw difference value corresponding to a difference between a pointing angle of a selected feature on the object and the heading angle, wherein the raw difference is based on a trajectory curvature of the centroid from the tracking device and a distance between the centroid and the selected feature, determining a filtered difference between the pointing angle and the heading angle using a low pass filter, and determining the pointing angle by subtracting the filtered difference from the heading angle.