PROBABILISTIC TARGET SELECTION AND THREAT ASSESSMENT METHOD AND APPLICATION TO INTERSECTION COLLISION ALERT SYSTEM
First Claim
1. A method for providing target threat assessment in a collision avoidance system on a host vehicle, said method comprising:
- determining a travel path of the host vehicle using motion dynamics of the host vehicle;
transmitting a scan signal from at least one sensor on the host vehicle;
receiving multiple scan return points at the host vehicle from one or more detected objects that reflect the scan signal;
generating a distribution signal defining a contour of each detected object using the scan signal;
calculating a position, a translation velocity and an angular velocity of each detected object using the scan return points;
selecting the objects that may be in or enter the travel path of the host vehicle using the distribution signal, position, translation velocity and angular velocity of each object; and
determining a threat assessment of those objects that are in or may enter the travel path of the host vehicle by comparing a number of scan return points that indicate that the object is in or may enter the travel path to the number of scan points that are received for that object.
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Accused Products
Abstract
A system and method for providing target selection and threat assessment for vehicle collision avoidance purposes that employ probability analysis of radar scan returns. The system determines a travel path of a host vehicle and provides a radar signal transmitted from a sensor on the host vehicle. The system receives multiple scan return points from detected objects, processes the scan return points to generate a distribution signal defining a contour of each detected object, and processes the scan return points to provide a position, a translation velocity and an angular velocity of each detected object. The system selects the objects that may enter the travel path of the host vehicle, and makes a threat assessment of those objects by comparing a number of scan return points that indicate that the object may enter the travel path to the number of the scan points that are received for that object.
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Citations
20 Claims
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1. A method for providing target threat assessment in a collision avoidance system on a host vehicle, said method comprising:
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determining a travel path of the host vehicle using motion dynamics of the host vehicle; transmitting a scan signal from at least one sensor on the host vehicle; receiving multiple scan return points at the host vehicle from one or more detected objects that reflect the scan signal; generating a distribution signal defining a contour of each detected object using the scan signal; calculating a position, a translation velocity and an angular velocity of each detected object using the scan return points; selecting the objects that may be in or enter the travel path of the host vehicle using the distribution signal, position, translation velocity and angular velocity of each object; and determining a threat assessment of those objects that are in or may enter the travel path of the host vehicle by comparing a number of scan return points that indicate that the object is in or may enter the travel path to the number of scan points that are received for that object. - View Dependent Claims (2, 7, 8, 9, 10, 11, 12, 13)
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- 3. The method according to claim 3 wherein selecting the objects that may be in or enter the travel path of the host vehicle includes reducing the complexity of the distribution signal to a reduced number of scan points.
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14. A method for providing target threat assessment in a collision avoidance system on a host vehicle, said method comprising:
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determining a travel path of the host vehicle using motion dynamics of the host vehicle; transmitting a radar signal from at least one radar sensor on the host vehicle; receiving multiple scan return points at the host vehicle from one or more detected objects that reflect the radar signal; generating a distribution signal defining a contour of each detected object using the radar signal, wherein generating a distribution signal of each object includes updating the distribution signal at subsequent sample times using a Gaussian mixture model; calculating a position, a translation velocity and an angular velocity of each detected object using the scan return points; selecting the objects that may be in or enter the travel path of the host vehicle using the distribution signal, position, translation velocity and angular velocity of each object, wherein selecting the objects that may be in or enter the travel path of the host vehicle includes using a probabilistic technique; and determining a threat assessment of those objects that are in or may enter the travel path of the host vehicle by comparing a number of scan return points that indicate that the object is in or may enter the travel path to the number of scan points that are received for that object, wherein determining a threat assessment includes determining a time to collision for one or more of the scan return points. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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Specification