METHOD FOR DETERMINING MISALIGNMENT OF AN OBJECT SENSOR
First Claim
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1. A method for determining misalignment of an object sensor on a host vehicle, comprising the steps of:
- determining if the host vehicle is traveling in a straight line;
receiving object sensor readings from the object sensor, and obtaining object parameters from the object sensor readings for at least one object in the object sensor field of view;
when the host vehicle is traveling in a straight line, using the object parameters to calculate an object misalignment angle α
o between an object axis and a sensor axis for the at least one object; and
using the object misalignment angle α
o to determine a sensor misalignment angle α
.
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Abstract
A vehicle system and method that can determine object sensor misalignment while a host vehicle is being driven, and can do so within a single sensor cycle through the use of stationary and moving target objects and does not require multiple sensors with overlapping fields of view. In an exemplary embodiment where the host vehicle is traveling in a generally straight line, one or more object misalignment angle(s) αo between an object axis and a sensor axis are calculated and used to determine the actual sensor misalignment angle α.
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Citations
21 Claims
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1. A method for determining misalignment of an object sensor on a host vehicle, comprising the steps of:
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determining if the host vehicle is traveling in a straight line; receiving object sensor readings from the object sensor, and obtaining object parameters from the object sensor readings for at least one object in the object sensor field of view; when the host vehicle is traveling in a straight line, using the object parameters to calculate an object misalignment angle α
o between an object axis and a sensor axis for the at least one object; andusing the object misalignment angle α
o to determine a sensor misalignment angle α
. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A method for determining misalignment of an object sensor on a host vehicle, comprising the steps of:
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determining if the host vehicle is traveling in a straight line; receiving object sensor readings from the object sensor, and obtaining object parameters from the object sensor readings for at least one object in the object sensor field of view; determining if the at least one object is a valid object; when the host vehicle is traveling in a straight line and the at least one object is a valid object, using the object parameters to calculate an object misalignment angle α
o between an object axis and a sensor axis for the at least one valid object;using the object misalignment angle α
o to establish a long term misalignment angle α
lt; andusing the long term misalignment angle α
lt to determine a sensor misalignment angle α
. - View Dependent Claims (18, 19, 20)
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21. A vehicle system on a host vehicle, comprising:
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one or more vehicle sensors providing vehicle sensor readings, the vehicle sensor readings indicate whether or not the host vehicle is traveling in a straight line; one or more object sensors providing object sensor readings, wherein the object sensor readings include object parameters for at least one object in an object sensor field of view; and a control module being coupled to the one or more vehicle sensors for receiving the vehicle sensor readings and being coupled to the one or more object sensors for receiving the object sensor readings, wherein the control module is configured to use the object parameters to calculate an object misalignment angle α
o for the at least one object, the object misalignment angle α
o being defined by an object axis and a sensor axis, and using the object misalignment angle α
o to determine a sensor misalignment angle α
.
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Specification