Path prediction system and method
First Claim
1. A system for detecting objects in a predicted path of a vehicle moving on a highway lane, comprising:
- a forward looking sensor for providing range, angle and velocity data for objects within a field of view in front of said vehicle;
measuring systems for providing velocity and yaw rate data for said vehicle; and
a processing system responsive to said forward looking sensor and said measuring systems for calculating an estimated path of said vehicle based on its velocity and yaw rate, calculating estimated paths for each of said objects, determining the lateral distance of each object from the predicted path of said vehicle, and classifying each object as either in or out of the highway lane of said vehicle.
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0 Petitions
Accused Products
Abstract
There is disclosed herein a method for detecting objects in a predicted path of a host vehicle moving on a highway lane. The method is for use in a system including a forward looking sensor, preferably a radar system, for providing range, angle and velocity data for objects within a field of view in front of the host vehicle, measuring systems for providing velocity and yaw rate data for the host vehicle, and a processing system responsive to the forward looking sensor and the measuring systems. The method includes the unordered steps of (a) calculating an estimated path of the host vehicle based on its velocity and yaw rate; (b) calculating estimated paths for each of the objects; (c) determining the lateral distance of each object from the predicted path of the host vehicle; and (d) classifying each object as either in or out of the highway lane of the host vehicle. The method includes processes for detecting lane changes by the host vehicle and for generating alternative path hypotheses in response to target deviations from the predicted paths.
173 Citations
20 Claims
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1. A system for detecting objects in a predicted path of a vehicle moving on a highway lane, comprising:
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a forward looking sensor for providing range, angle and velocity data for objects within a field of view in front of said vehicle;
measuring systems for providing velocity and yaw rate data for said vehicle; and
a processing system responsive to said forward looking sensor and said measuring systems for calculating an estimated path of said vehicle based on its velocity and yaw rate, calculating estimated paths for each of said objects, determining the lateral distance of each object from the predicted path of said vehicle, and classifying each object as either in or out of the highway lane of said vehicle. - View Dependent Claims (2, 3)
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4. In a system for use in a vehicle, said system including a forward looking sensor for providing range, angle and velocity data for objects within a field of view in front of said vehicle, measuring systems for providing velocity and yaw rate data for said vehicle, and a processing system responsive to said forward looking sensor and said measuring systems, a method for detecting objects in a predicted path of said vehicle while moving on a highway lane, said method comprising the steps of:
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a. calculating an estimated path of said vehicle based on its velocity and yaw rate;
b. calculating estimated paths for each of said objects;
c. determining the lateral distance of each object from the predicted path of said vehicle; and
d. classifying each object as either in or out of the highway lane of said vehicle. - View Dependent Claims (5)
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6. In a system for use in a host vehicle, said system including a forward looking radar system for providing range, angle and velocity data for targets within a field of view in front of said vehicle, measuring systems for providing velocity and yaw rate data for said vehicle, and a processing system responsive to said forward looking radar system and said measuring systems, a method for detecting targets in a predicted path of said host vehicle while moving on a highway lane, said method comprising:
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collecting data inputs from said forward looking radar system and said measuring systems, and deriving acceleration and lateral velocity target data therefrom;
calculating a host vehicle path estimate from said velocity and yaw rate data;
propagating target position histories with said host vehicle path estimate;
propagating target positions forward with longitudinal and lateral target position state vectors;
calculating polynomial curve fits for host vehicle and target position vectors;
generating said predicted path by correlating host vehicle and target paths and then fusing the target paths as a weighted average;
comparing target cross range positions to said predicted path and classifying targets as in-lane or out-of-lane with respect to the highway lane of said host vehicle;
receiving updated data from said forward looking radar system; and
repeating steps a through h continuously. - View Dependent Claims (7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification