I am working in the field of automated vehicles mainly in the domain of passenger and commercial vehicles. I have been studying whatever I can get regarding the measurement the state (relative position, relative velocity, relative heading and roation, a.k.a. yaw rate) of surrounding objects especially other vehicles using sensors.
While everything else is possible to measure precisely using on-board sensors, I have found out that not much literature is available for measuring the vehicle heading and yaw rate of other vehicles which is baffling to me given the extreme precision of laser based sensing (albeit using time stamps).
I am looking for:
Reference to literature with experiments for estimation of yaw rate and vehicle heading.
As I can see from the literature available (or the lack thereof), no direct way of measuring yaw rate is available but by using LIDAR or Camera with consecutive time stamps or scans of data. However, this inherently requires the data to be correct. Hence, I would think that due to the inaccuracies involved, this method is not used! Is this correct?
Are there any commercially available sensors that give accurate heading and yaw rate information of other vehicles?
Sources and research papers would be most welcome!
Edit: By this inherently requires the data to be correct I mean, given the high sensitivity to error in heading or yaw rate at high vehicle speeds, the values computed using sensor information is not accurate enough to be put to use in practice!