Patent ID: 11960005
Assignee: HYUNDAI MOTOR COMPANY
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 6:
7. The method according to claim 4, wherein the heading of the current tracking box is determined as follows:, θ
     BoxHeading
    
    =
    
     min
     (
     
      
       
        ❘
        "\[LeftBracketingBar]"
       
       
                -
        
         H
         0
        
       
       
        ❘
        "\[RightBracketingBar]"
       
      
      ,
      
       
        ❘
        "\[LeftBracketingBar]"
       
       
                -
        
         H
         1
        
       
       
        ❘
        "\[RightBracketingBar]"
       
      
      ,
      
       
        ❘
        "\[LeftBracketingBar]"
       
       
                -
        
         H
         2
        
       
       
        ❘
        "\[RightBracketingBar]"
       
      
      ,
      
              -
       
        H
        3
       
      
     
    
   
   
    ❘
    "\[RightBracketingBar]"
   
  
  )
 

where θBoxHeading represents the heading of the current tracking box,  represents heading information included in the history shape information, H0, H1, H2 and H3 represent candidate headings of the current tracking box, and min(A, B, C, D) represents a candidate heading that is used when a smallest value among A, B, C and D is calculated.