System and method for determining the positions of side collision avoidance sensors on a vehicle

• US 10,067,897 B1
• Filed: 05/02/2017
• Issued: 09/04/2018
• Est. Priority Date: 05/02/2017
• Status: Active Grant

• Current Assignee: Bendix Commercial Vehicle Systems LLC (Estate of Heinz Hermann Thiele)
• Original Assignee: Bendix Commercial Vehicle Systems LLC (Estate of Heinz Hermann Thiele)
• Inventors: Lesher, Michael K., Franz, Martin P.
• Primary Examiner(s): Haile, Benyam
• Application Number:
  US15/584,632
• Time in Patent Office: 490 Days
• CPC Class Codes: B61L 15/0036 Conductor-based, e.g. using CAN-Bus, train-line or optical fibres
• CPC Class Codes: B61L 23/041 Obstacle detection
• CPC Class Codes: B61L 23/34 for indicating the distance between vehicles or trains by the transmission of signals therebetween
• CPC Class Codes: G01B 11/26 for measuring angles or tapers; for testing the alignment of axes
• CPC Class Codes: G01B 7/003 for measuring position, not involving coordinate determination coordinate measuring G01B7/004
• CPC Class Codes: G01B 7/004 for measuring coordinates of points
• CPC Class Codes: G01P 21/00 Testing or calibrating of apparatus or devices covered by the preceding groups
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 2013/9315 Monitoring blind spots
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9327 Sensor installation details
• CPC Class Codes: G01S 2013/93274 on the side of the vehicles
• CPC Class Codes: G01S 7/4972 Alignment of sensor
• CPC Class Codes: G01S 7/52004 Means for monitoring or calibrating short-range imaging G01S7/5205
• CPC Class Codes: G06F 13/376 using a contention resolving method, e.g. collision detection, collision avoidance
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A system and method system for determining the positions of one or more collision avoidance sensors on a vehicle is provided. The system includes one or more sensors disposed on the vehicle and configured to generate electromagnetic waves within corresponding fields of view on a side of the vehicle and to receive reflections of the waves from objects passing through the field of view of each sensor. A controller receives signals generated by the sensors responsive to the reflections and determines, responsive to the signals, relative speeds and relative directions of movement of the objects relative to the vehicle. The controller further determines the position of the sensors on the vehicle responsive to the relative speeds and relative directions of movement. In particular, the controller determines the location of sensors relative to the vehicle centerline and the relative positions and distances between sensors in the direction of vehicle travel.

Claims

1. A system for determining the positions of one or more collision avoidance sensors on a vehicle, comprising:

a first sensor disposed on the vehicle, the first sensor configured to generate a first electromagnetic wave within a first field of view on a first side of the vehicle and to receive a reflection of the first electromagnetic wave from a first object passing through the first field of view;

a second sensor disposed on the vehicle, the second sensor configured to generate a second electromagnetic wave within a second field of view on the first side of the vehicle and to receive a reflection of the second electromagnetic wave from the first object passing through the second field of view;

a controller configured to

receive a first signal generated by the first sensor responsive to the reflection of the first electromagnetic wave by the first object;

determine, responsive to the first signal, a first relative speed of the first object relative to the vehicle;

determine, responsive to the first signal, a first relative direction of movement of the first object relative to the vehicle;

receive a second signal generated by the second sensor responsive to the reflection of the second electromagnetic wave by the first object;

determine, responsive to the second signal, a second relative speed of the first object relative to the vehicle;

determine, responsive to the second signal, a second relative direction of movement of the first object relative to the vehicle;

determine a position of the first sensor on the vehicle relative to a centerline of the vehicle in the direction of vehicle travel by

determining whether the first object is stationary or moving;

incrementing a left counter by a first value when the first object is stationary and the first relative direction of movement is in a first direction and by a second value when the first object is moving and the first relative direction of movement is in a second direction;

incrementing a right counter by the first value when the first object is stationary and the first relative direction of movement is in the second direction and by the second value when the first object is moving and the first relative direction of movement is in the first direction;

determining whether the first sensor is located on a left side of the centerline or a right side of the centerline responsive to a comparison between the left counter and the right counter;

determine a position of the first sensor in a fore-aft direction relative to the second sensor responsive to a first time of the reflection of the first electromagnetic wave by the first object and a second time of the reflection of the second electromagnetic wave by the first object.

2. The system of claim 1 wherein the controller is further configured, in determining whether the first object is stationary or moving, to:

determine a vehicle speed of the vehicle;

compute a ground speed of the first object responsive to the first relative speed and the vehicle speed; and

,

classify the first object as one of stationary, moving or unknown responsive to the ground speed.

7. The system of claim 1 wherein the second value is less than the first value.

8. The system of claim 1 wherein the controller is further configured, in determining the position of the first sensor in the fore-aft direction relative to the second sensor, to:

identify a first record corresponding to the first signal and including the first time of the reflection of the first electromagnetic wave by the first object;

identify a second record corresponding the second signal and including the second time of the reflection of the second electromagnetic wave by the first object; and

compare the first and second times.

9. The system of claim 1 wherein the controller is further configured, in determining the position of the first sensor in the fore-aft direction relative to the second sensor, to:

designate the first sensor as forward of the second sensor if the first time occurs before the second time; and

,

designate the first sensor as rearward of the second sensor if the first time occurs after the second time.

10. The system of claim 1 wherein the controller is further configured to determine a distance between the first sensor and the second sensor responsive to the first time, the second time, and at least one of the first relative speed and the second relative speed.

11. The system of claim 10 wherein the controller is configured to determine the distance only when a difference between first and second relative speeds meets a predetermined condition.

12. The system of claim 10 wherein the controller is configured to determine the distance responsive to an average of the first and second relative speeds.

3. An article of manufacture, comprising:

a non-transitory computer storage medium having a computer program encoded thereon that when executed by a controller determines the positions of one or more collision avoidance sensors on a vehicle, the computer program including code for;

determining a first relative speed of an object relative to the vehicle responsive to a first signal generated by a first sensor disposed on the vehicle, the first signal generated by the first sensor in response to reflection by the object of a first electromagnetic wave generated by the first sensor within a first field of view on a first side of the vehicle when the object passes through the first field of view;

determining, responsive to the first signal, a first relative direction of movement of the object relative to the vehicle;

determining a second relative speed of the object relative to the vehicle responsive to a second signal generated by a second sensor disposed on the vehicle, the second signal generated by the second sensor in response to reflection by the object of a second electromagnetic wave generated by the second sensor within a second field of view on the first side of the vehicle when the object passes through the second field of view;

determining, responsive to the second signal, a second relative direction of movement of the object relative to the vehicle;

determining a position of the first sensor on the vehicle relative to a centerline of the vehicle in the direction of vehicle travel by

determining whether the object is stationary or moving;

incrementing a left counter by a first value when the object is stationary and the first relative direction of movement is in a first direction and by a second value when the object is moving and the first relative direction of movement is in a second direction;

incrementing a right counter by the first value when the object is stationary and the first relative direction of movement is in the second direction and by the second value when the object is moving and the first relative direction of movement is in the first direction;

determining whether the first sensor is located on a left side of the centerline or a right side of the centerline responsive to a comparison between the left counter and the right counter;

determining a position of the first sensor in a fore-aft direction relative to the second sensor responsive to a first time of the reflection of the first electromagnetic wave by the first object and a second time of the reflection of the second electromagnetic wave by the first object.

4. The article of manufacture of claim 3 wherein the code for determining whether the object is stationary or moving includes code for

determining a vehicle speed of the vehicle;

computing a ground speed of the object responsive to the first relative speed and the vehicle speed; and

,

classifying the object as one of stationary, moving or unknown responsive to the ground speed.

13. The article of manufacture of claim 3 wherein the second value is less than the first value.

14. The article of manufacture of claim 3 wherein the code for determining the position of the first sensor in the fore-aft direction relative to the second sensor includes code for:

identifying a first record corresponding to the first signal and including the first time;

identifying a second record corresponding the second signal and including the second time; and

comparing the first and second times.

15. The article of manufacture of claim 3 wherein the code for determining the position of the first sensor in the fore-aft direction relative to the second sensor includes code for:

designating the first sensor as forward of the second sensor if the first time occurs before the second time; and

,

designating the first sensor as rearward of the second sensor if the first time occurs after the second time.

16. The article of manufacture of claim 3 wherein the computer program further includes code for determining a distance between the first sensor and the second sensor responsive to the first time, the second time and at least one of the first relative speed and the second relative speed.

17. The article of manufacture of claim 16 wherein the computer program only executes the code for determining when a difference between first and second relative speeds meets a predetermined condition.

18. The article of manufacture of claim 16 wherein the code for determining the distance determines the distance responsive to an average of the first and second relative speeds.

5. A method for determining the positions of one or more collision avoidance sensors on a vehicle, comprising the steps of:

generating a first electromagnetic wave from a first sensor disposed on the vehicle, the first electromagnetic wave generated within a first field of view on a first side of the vehicle;

receiving a reflection of the first electromagnetic wave from an object passing through the first field of view;

generating a first signal from the first sensor responsive to the reflection of the first electromagnetic wave by the object;

determining, responsive to the first signal, a first relative speed of the object relative to the vehicle;

determining, responsive to the first signal, a first relative direction of movement of the object relative to the vehicle;

generating a second electromagnetic wave from a second sensor disposed on the vehicle, the second electromagnetic wave generated within a second field of view on the first side of the vehicle;

receiving a reflection of the second electromagnetic wave from the object passing through the second field of view;

generating a second signal from the second sensor responsive to the reflection of the second electromagnetic wave by the object;

determining, responsive to the second signal, a second relative speed of the object relative to the vehicle;

determining, responsive to the second signal, a second relative direction of movement of the object relative to the vehicle;

determining a position of the first sensor on the vehicle relative to a centerline of the vehicle in the direction of vehicle travel by

determining whether the object is stationary or moving;

incrementing a left counter by a first value when the object is stationary and the first relative direction of movement is in a first direction and by a second value when the object is moving and the first relative direction of movement is in a second direction;

incrementing a right counter by the first value when the object is stationary and the first relative direction of movement is in the second direction and by the second value when the object is moving and the first relative direction of movement is in the first direction;

determining whether the first sensor is located on a left side of the centerline or a right side of the centerline responsive to a comparison between the left counter and the right counter;

determine a position of the first sensor in a fore-aft direction relative to the second sensor responsive to a first time of the reflection of the first electromagnetic wave by the first object and a second time of the reflection of the second electromagnetic wave by the first object.

6. The method of claim 5 wherein the step of determining whether the object is stationary or moving includes the substeps of:

determining a vehicle speed of the vehicle;

computing a ground speed of the object relative to the vehicle responsive to the first relative speed and the vehicle speed; and

,

classifying the object as one of stationary, moving or unknown responsive to the ground speed.

19. The method of claim 5 wherein the second value is less than the first value.

20. The method of claim 5 wherein the step of determining the position of the first sensor in the fore-aft direction relative to the second sensor includes the sub steps of:

identifying a first record corresponding to the first signal and including the first time;

identifying a second record corresponding the second signal and including the second time; and

comparing the first and second times.

21. The method of claim 5 wherein the step of determining the position of the first sensor in the fore-aft direction relative to the second sensor includes the sub steps of:

designating the first sensor as forward of the second sensor if the first time occurs before the second time; and

,

designating the first sensor as rearward of the second sensor if the first time occurs after the second time.

22. The method of claim 5, further comprising the step of determining a distance between the first sensor and the second sensor responsive to the first time, the second time and at least one of the first relative speed and the second relative speed.

23. The method of claim 22 wherein the step of determining a distance occurs only when a difference between first and second relative speeds meets a predetermined condition.

24. The method of claim 22 wherein the distance is determined responsive to an average of the first and second relative speeds.