COLLISION DETECTION SYSTEM WITH A PLAUSIBIITY MODULE
First Claim
1. A collision detection system for a host vehicle comprising:
- a sensor for detecting an object in a field of view and measuring a first set of target data based on a position of the object relative to the host vehicle;
a camera for capturing a plurality of images from the field of view and processing the plurality of images to measure a second set of target data based on the position of the object relative to the host vehicle and to measure an image-based time-to-collision (TTCIMAGE) of the host vehicle with the object based on scalable differences of the plurality of images;
a fusion module for determining a matched set of target data based on the first and second sets of target data received from the sensor and the camera, wherein the fusion module estimates a threat of collision of the host vehicle with the object based on the matched set of target data;
a plausibility module for calculating a steering-based time-to-collision (TTCSTEERING) and a braking-based time-to-collision (TTCBRAKING) of the host vehicle with the object based on the second set of target data received from the camera and an additional set of data received from a vehicle dynamics detector, wherein the plausibility module generates an actuation signal if the TTCIMAGE is less than the TTCSTEERING and the TTCBRAKING;
a countermeasure module for actuating a countermeasure device if the threat of collision received from the fusion module exceeds an actuation threshold and the actuation signal from the plausibility module is generated and received.
1 Assignment
0 Petitions
Accused Products
Abstract
A collision detection system for a vehicle includes a sensor and a camera. The sensor measures a first data set of an object relative to the vehicle. The camera measures a second data set of the object relative to the vehicle and separately measures an image-based time-to-collision with the object based on scalable differences of captured images. A fusion module matches data from the sensor and the camera and estimates a collision threat based on the matched data. A plausibility module generates a signal if the measured image-based time-to-collision is less than a calculated steering-based time-to-collision and a braking-based time-to-collision with the object. A countermeasure module actuates a countermeasure device, such as an autonomous braking system, if the collision threat exceeds an actuation threshold and the signal from the plausibility module is received, thereby statistically reducing the rate of false actuations of the countermeasure device.
-
Citations
20 Claims
-
1. A collision detection system for a host vehicle comprising:
-
a sensor for detecting an object in a field of view and measuring a first set of target data based on a position of the object relative to the host vehicle; a camera for capturing a plurality of images from the field of view and processing the plurality of images to measure a second set of target data based on the position of the object relative to the host vehicle and to measure an image-based time-to-collision (TTCIMAGE) of the host vehicle with the object based on scalable differences of the plurality of images; a fusion module for determining a matched set of target data based on the first and second sets of target data received from the sensor and the camera, wherein the fusion module estimates a threat of collision of the host vehicle with the object based on the matched set of target data; a plausibility module for calculating a steering-based time-to-collision (TTCSTEERING) and a braking-based time-to-collision (TTCBRAKING) of the host vehicle with the object based on the second set of target data received from the camera and an additional set of data received from a vehicle dynamics detector, wherein the plausibility module generates an actuation signal if the TTCIMAGE is less than the TTCSTEERING and the TTCBRAKING; a countermeasure module for actuating a countermeasure device if the threat of collision received from the fusion module exceeds an actuation threshold and the actuation signal from the plausibility module is generated and received. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
-
-
9. A collision detection system for a vehicle comprising:
-
a sensor; a camera; a fusion module for estimating a collision threat with an object using data of the object relative to the vehicle from the sensor and the camera; a plausibility module for generating a signal if a measured image-based time-to-collision is less than a calculated steering-based time-to-collision and a calculated braking-based time-to-collision; and a countermeasure that actuates based on the collision threat and the signal. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17, 18)
-
-
19. A method for actuating an autonomous braking controller for a brake system of a host vehicle, the method comprising the steps of:
-
sensing an object in a field of view by an object detection sensor on the host vehicle; measuring a first data set of the object with the object detection sensor, including a first range and a first range rate of the object relative to the host vehicle, a first angle and a first angle rate of the object relative to the host vehicle, and a relative movement determination of the object; capturing a plurality of images based on light waves from the field of view by a camera on the host vehicle at known time intervals between instances when the images of the plurality of images are captured; processing the plurality of images to measure a second data set of the object, including a second range and a second range rate of the object relative to the host vehicle, a second angle and a second angle rate of the object relative to the host vehicle, a width of the object, and an image based time-to-collision (TTCIMAGE) of the host vehicle with the object based on scalable differences of the object derived from the plurality of images; measuring an additional data set with a vehicle dynamics detector, including a yaw-rate sensor for measuring a yaw rate of the host vehicle and a speed sensor for measuring a longitudinal velocity of the host vehicle; processing the first and second data sets, the TTCIMAGE, and the additional data set; estimating a threat of collision of the host vehicle with the object based on a combination of the first and second data sets; determining a steering-based time-to-collision (TTCSTEERING) of the host vehicle with the object as a function of the second data set, the longitudinal velocity of the host vehicle, and the yaw rate of the host vehicle; determining a braking-based time-to-collision (TTCBRAKING) of the host vehicle with the object as a function of the longitudinal velocity of the host vehicle and a selected constant rate of deceleration of the host vehicle; generating an actuation signal if the TTCIMAGE is less than the TTCSTEERING and the TTCBRAKING; and actuating the autonomous braking controller for the brake system of the host vehicle based on the threat of collision and the actuation signal. - View Dependent Claims (20)
-
Specification