System for use in a vehicle

• US 10,310,077 B2
• Filed: 02/03/2015
• Issued: 06/04/2019
• Est. Priority Date: 02/12/2014
• Status: Active Grant

• Current Assignee: Jaguar Land Rover Limited (TATA Motors Limited)
• Original Assignee: Jaguar Land Rover Limited (TATA Motors Limited)
• Inventors: Hoare, Edward, Tran, Thuy-Yung, Gashinova, Marina, Bystrov, Aleksandr, Cherniakov, Mikhail
• Primary Examiner(s): Gregory, Bernarr E
• Application Number:
  US15/118,216
• Publication Number:
  US 20170168156A1
• Time in Patent Office: 1,582 Days
• CPC Class Codes: G01S 13/862 Combination of radar systems with sonar systems
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/87 Combinations of radar systems, e.g. primary radar and secondary radar
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 7/024 using polarisation effects in waveguides H01P1/165; for aerials H01Q, e.g. H01Q15/22, H01Q15/24, H01Q19/195
• CPC Class Codes: G01S 7/411 Identification of targets based on measurements of radar reflectivity G01S7/415 takes precedence
• CPC Class Codes: G01S 7/417 involving the use of neural networks

Abstract

A system for use in a vehicle determining the type of terrain ahead of the vehicle, the system comprising; a processor configured to receive sensor output data from a plurality of vehicle-mounted sensors, including at least one radar sensor and at least one acoustic sensor, each for receiving a reflected signal from the terrain ahead of the vehicle; and a data memory configured to store pre-determined data relating sensor output data, for the or each acoustic sensor and the or each radar sensor, to a terrain type; wherein the processor is configured to compare the sensor output data with the pre-determined data to determine an indication of the terrain type corresponding to the sensor output data.

Claims

1. A system for use in a vehicle determining an indication of the type of terrain ahead of the vehicle, the system comprising:

a processor configured to receive sensor output data from a plurality of vehicle-mounted sensors, including at least one radar sensor and at least one acoustic sensor, each for receiving a reflected signal from the terrain ahead of the vehicle;

a human machine interface configured to enable communication of the determined terrain type to a user and to enable user-input in relation to the terrain type following determination of the terrain type by the user; and

a data memory configured to store pre-determined data relating sensor output data for each acoustic sensor and each radar sensor to a particular terrain type,

wherein the processor is configured to compare the sensor output data with the pre-determined data to determine an indication of the particular terrain type corresponding to the sensor output data, and further wherein the processor includes means configured to receive the user-input in relation to the terrain type and for, in dependence upon the user-input, providing a terrain type to the data memory together with sensor output data corresponding to the terrain type to supplement the predetermined data as part of a self-learning process.

2. A system according to claim 1, wherein the processor is further configured to receive sensor output data from one or more of at least one optical sensor mounted on the vehicle and at least one infrared sensor mounted on the vehicle.

3. A system according to claim 1, wherein the processor is configured to input the determined terrain type to the data memory together with parameters corresponding to the sensor output data to supplement the pre-determined data as part of the self-learning process.

4. A system according to claim 1, wherein the processor is configured to receive sensor output data from each radar sensor in the form of a horizontally polarised signal representative of power in a horizontal polarisation component of a radar signal reflected from the terrain ahead of the vehicle and/or to receive a vertically polarised signal representative of power in a vertical polarisation component of a radar signal reflected from the terrain ahead of the vehicle, wherein the processor is further configured to determine one or more of:

a horizontal polarisation power signal, that is the power of a received horizontally polarised signal from a horizontally polarised transmitter;

a vertical polarisation power signal, that is the power of a received vertically polarised signal from a vertically polarised transmitter; and

a cross polarisation power signal, that is the power of a received horizontally polarised signal from a vertically polarised transmitter or the power of a received vertically polarised signal from a horizontally polarised transmitter, and/or wherein the processor is further configured to receive sensor output data from each radar sensor in the form of a received elliptically polarised signal or a received circularly polarised signal, wherein the processor is further configured to determine a cross polarisation power signal, that is the power of a received clockwise-rotating elliptically polarised signal from a transmitted anticlockwise-rotating elliptically polarised signal, or the power of a received anticlockwise-rotating elliptically polarised signal from a transmitted clockwise-rotating elliptically polarised signal.

5. A system according to claim 1, wherein the processor is configured to determine a ratio of any two of:

the horizontal polarisation power signal;

the vertical polarisation power signal; and

the cross polarisation power signal, wherein the processor is further configured to compare one or more of the determined ratios with a corresponding pre-determined ratio for a plurality of different terrain types, and wherein the processor is further configured to determine an indication of the terrain type on the basis of the comparison.

6. A system according to claim 1, wherein the processor is configured to receive sensor output data from each acoustic sensor in the form of an acoustic power signal representative of power in an acoustic signal reflected from the terrain ahead of the vehicle.

7. A system according to claim 1, wherein the processor is configured to:

determine a ratio of the acoustic power signal and one or more of the horizontal polarisation power signal, the vertical polarisation power signal, and the cross polarisation power signal;

compare the determined ratio with a corresponding predetermined ratio for a plurality of different terrain types; and

determine an indication of the terrain type on the basis of the comparison.

8. A system according to claim 1, wherein the processor is configured to analyse parameters relating to sensor output data and to cluster the sensor output data into a plurality of clusters, wherein each cluster corresponds to a different terrain type.

9. A system according to claim 8, wherein the processor is configured to analyse parameters relating to the sensor output data using one of a ‘

k-means’

algorithm and a ‘

k-nearest neighbour’

algorithm.

10. A system according claim 8, wherein the processor is configured to determine to which one of the clusters the sensor output data belongs so as to determine an indication of the terrain type.

11. A system according to claim 1, further comprising at least one acoustic transmitter for transmitting an acoustic signal to the terrain ahead and at least one acoustic receiver for receiving a reflected signal of the acoustic signal from the terrain ahead, and at least one radar transmitter for transmitting a radar signal to the terrain ahead and at least one radar receiver for receiving a reflected signal of the radar signal from the terrain ahead.

12. A system according to claim 11, wherein the radar transmitter is configured to transmit radar signals at orthogonal horizontal and vertical polarisations, and/or with a circular or elliptical polarisation and/or at two or more frequencies, and/or wherein the acoustic transmitter is configured to transmit a pulsed acoustic signal or a modulated acoustic signal through a transmitting antenna and the acoustic receiver is configured to receive the pulsed acoustic signal or the modulated acoustic signal.

13. A system according to claim 1, further comprising means configured to control at least one vehicle subsystem in dependence on the determination of the terrain type.

14. A method for use in a vehicle determining an indication of the type of terrain ahead of the vehicle, the method comprising:

receiving sensor output data from a plurality of vehicle-mounted sensors, including at least one radar sensor and at least one acoustic sensor, each for receiving a reflected signal from the terrain ahead of the vehicle;

storing pre-determined data relating sensor output data, for the or each acoustic sensor and the or each radar sensor, to a particular terrain type;

comparing the sensor output data with the pre-determined data to determine an indication of the particular terrain type corresponding to the sensor output data; and

receiving, via a human machine interface configured to enable communication of the determined terrain type to the user and to enable user-input in relation to the terrain type following determination of the terrain type by the user, the user-input in relation to the terrain type and, in dependence upon the user-input, providing a terrain type to the data memory together with sensor output data corresponding to the terrain type to supplement the pre-determined data as part of a self-learning process.

15. A method according to claim 14, comprising receiving sensor output data from the or each radar sensor in the form of a received horizontally polarised signal representative of power in a received horizontal polarisation component of a radar signal reflected from the terrain ahead of the vehicle and/or receiving a vertically polarised signal representative of power in a received vertical polarisation component of a radar signal reflected from the terrain ahead of the vehicle.

16. A method according to claim 15, comprising determining one or more of:

a horizontal polarisation power signal, that is the power of a received horizontally polarised signal from a horizontally polarised transmitter;

a vertical polarisation power signal, that is the power of a received vertically polarised signal from a vertically polarised transmitter; and

a cross polarisation power signal, that is the power of a received horizontally polarised signal from a vertically polarised transmitter or the power of a received vertically polarised signal from a horizontally polarised transmitter.

17. A method according to claim 14, comprising receiving sensor output data from each radar sensor in the form of a received elliptically polarised signal or a received circularly polarised signal and determining a cross polarisation power signal, that is the power of a received clockwise-rotating elliptically polarised signal from a transmitted anticlockwise-rotating elliptically polarised signal, or the power of a received anticlockwise-rotating elliptically polarised signal from a transmitted clockwise-rotating elliptically polarised signal.

18. A method according to claim 14, comprising analysing parameters relating to sensor output data and clustering the sensor output data into a plurality of clusters, wherein each cluster corresponds to a different terrain type.

19. A vehicle controller for determining an indication of the type of terrain ahead of the vehicle, the controller comprising;

a processor having an input to receive sensor output data from a plurality of vehicle-mounted sensors, including at least one radar sensor and at least one acoustic sensor, each vehicle-mounted sensor for receiving a reflected signal from the terrain ahead of the vehicle; and

memory having stored thereon pre-determined data relating sensor output data for the or each acoustic sensor and the or each radar sensor to a particular terrain type, wherein the processor compares the sensor output data with the stored pre-determined data to determine an indication of the particular terrain type corresponding to the sensor output data and receives, via a human machine interface configured to enable communication of the determined terrain type to the user and to enable user-input in relation to the terrain type following determination of the terrain type by the user, the user-input in relation to the terrain type and, in dependence upon the user-input, providing a terrain type to the data memory together with sensor output data corresponding to the terrain type to supplement the pre-determined data as part of a self-learning process.

20. A system for use in a vehicle, the system comprising:

a processor configured to receive sensor output data from a plurality of vehicle-mounted sensors, including at least one radar sensor and at least one acoustic sensor, each for receiving a reflected signal from the terrain ahead of the vehicle;

a human machine interface configured to enable communication of the determined terrain type to a user and to enable user-input in relation to the terrain type following determination of the terrain type by the user;

a data memory configured to store pre-determined data relating sensor output data for each acoustic sensor and each radar sensor to a particular terrain type,

wherein the processor is configured to compare the sensor output data with the pre-determined data to determine an indication of the particular terrain type corresponding to the sensor output data, and further wherein the processor includes means configured to receive the user-input in relation to the terrain type and for, in dependence upon the user-input, providing a terrain type to the data memory together with sensor output data corresponding to the terrain type to supplement the predetermined data as part of a self-learning process;

at least one acoustic transmitter for transmitting an acoustic signal to the terrain ahead; and

at least one acoustic receiver for receiving a reflected signal of the acoustic signal from the terrain ahead, and at least one radar transmitter for transmitting a radar signal to the terrain ahead and at least one radar receiver for receiving a reflected signal of the radar signal from the terrain ahead.