TRAJECTORY DETECTION

• US 20170236421A1
• Filed: 11/11/2014
• Published: 08/17/2017
• Est. Priority Date: 11/11/2014
• Status: Active Grant

• Current Assignee: Harman International Industries Incorporated (Samsung Electronics Co. Ltd.)
• Original Assignee: Harman International Industries Incorporated (Samsung Electronics Co. Ltd.)
• Inventors: Zhang, Qingshan, Yang, Zeng
• Granted Patent: US 10,672,274 B2
• Time in Patent Office: Days
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2420/54 Audio sensitive means, e.g. ultrasound
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2556/65 Data transmitted between vehicles
• CPC Class Codes: B60W 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: G01S 13/726 Multiple target tracking
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 15/66 Sonar tracking systems
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 17/66 Tracking systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 2013/9316 combined with communication equipment with other vehicles or with base stations
• CPC Class Codes: G01S 2013/9323 Alternative operation using light waves
• CPC Class Codes: G01S 2013/9324 Alternative operation using ultrasonic waves
• CPC Class Codes: G01S 7/003 Transmission of data between radar, sonar or lidar systems and remote stations
• CPC Class Codes: G08G 1/04 : using optical or ultrasonic detectors
• CPC Class Codes: G08G 1/056 : with provision for distinguishing direction of travel
• CPC Class Codes: G08G 1/163 : involving continuous checking

Abstract

A trajectory detection method and a trajectory detection system are provided. The method includes: receiving, on a first vehicle, from a second vehicle, dynamic data containing at least one dynamic feature of the second vehicle; detecting a relative position of the second vehicle with regard to the first vehicle using an object detection sensor mounted on the first vehicle; and generating a trajectory of the second vehicle based on the relative position and the dynamic data. Accuracy may be improved.

Claims

1. A trajectory detection method, comprising:

receiving, on a first vehicle, from a second vehicle, dynamic data containing at least one dynamic feature of the second vehicle;

detecting a relative position of the second vehicle with regard to the first vehicle using an object detection sensor mounted on the first vehicle; and

generating a trajectory of the second vehicle based on the relative position and the dynamic data.

2. The trajectory detection method according to claim 1, wherein the relative position is detected by a radar, a lidar, a sonar or any combination thereof.

3. The trajectory detection method according to claim 1, wherein the dynamic data comprise velocity data and heading data.

4. The trajectory detection method according to claim 1, wherein the first vehicle detects the relative position of the second vehicle with regard to the first vehicle at a first time point, and calculates the trajectory of the second vehicle based on a first set of dynamic data containing the at least one dynamic feature of the second vehicle which are received before or after the first time point, where the trajectory ends at or starts from a point calculated based on a position where the first vehicle locates at the first time point and the relative position.

5. The trajectory detection method according to claim 1, further comprising:

receiving a plurality sets of dynamic data from a plurality of vehicles;

detecting at least two relative positions of the second vehicle with regard to the first vehicle at different time points;

calculating a first position variation of each of the plurality of vehicles based on the dynamic data received from the corresponding vehicle;

calculating a second position variation of the second vehicle based on the at least two relative positions; and

determining whether there is a vehicle in the plurality of vehicles which represents the second vehicle by comparing the first position variation of each of the plurality of vehicles with the second position variation of the second vehicle.

6. The trajectory detection method according to claim 1, wherein the dynamic data are generated at different time points and transmitted in packets, and the method further comprises:

obtaining a first set of time points respectively representing when the packets are sent from the second vehicle;

subtracting each one of the first set of time points by a predetermined value to obtain a second set of time points;

detecting the relative position of the second vehicle with regard to the first vehicle at one of the second set of time points; and

calculating the trajectory of the second vehicle based on the relative position, the dynamic data and the second set of time points.

7. The trajectory detection method according to claim 6, further comprising:

if there is a pair of neighboring time points in the second set of time points, which have an interval greater than a first predetermined threshold, performing an interpolation calculation for the dynamic data corresponding to the pair of neighboring time points.

8. The trajectory detection method according to claim 6, further comprising:

if there is a pair of neighboring time points in the second set of time points, which have an interval greater than a second predetermined threshold, modifying the latter time point in the pair to be closer to the former time point in the pair.

9. The trajectory detection method of claim 1,

where the dynamic data are generated by a device mounted on the second vehicle.

10. A trajectory detection system mounted on a first vehicle, comprising:

an object detection sensor for detecting a relative position of a second vehicle with regard to the first vehicle;

a communication device for receiving, from the second vehicle, dynamic data containing at least one kind of dynamic feature of the second vehicle; and

a processing device for calculating a trajectory of the second vehicle based on the relative position and the dynamic data.

11. The trajectory detection system according to claim 10, wherein the object detection sensor comprises a radar, a lidar, a sonar or any combination thereof.

12. The trajectory detection system according to claim 10, wherein the dynamic data comprise velocity data and heading data.

13. The trajectory detection system according to claim 10, wherein the processing device is configured to:

obtain the relative position which is detected at a first time point;

obtain a first set of dynamic data which contain the at least one dynamic feature of the second vehicle which are received before or after the first time point; and

calculate the trajectory of the second vehicle based on the first set of dynamic data, where the trajectory ends at or starts from a point calculated based on a position where the first vehicle locates at the first time point and the relative position.

14. The trajectory detection system according to claim 10, wherein the communication device is adapted for receiving a plurality sets of dynamic data from a plurality of vehicles, and the processing device is further configured to:

calculate a first position variation of each of the plurality of vehicles based on the dynamic data received from the corresponding vehicle;

calculate a second position variation of the second vehicle based on the at least two relative positions; and

determine whether there is a vehicle in the plurality of vehicles which represents the second vehicle by comparing the first position variation of each of the plurality of vehicles with the second position variation of the second vehicle.

15. The trajectory detection system according to claim 10, wherein the communication device is adapted for receiving the dynamic data packet by packet, the object detection sensor is adapted for detecting relative positions of the second vehicle with regard to the first vehicle at different time points, and the processing device is further configured to:

obtain a first set of time points respectively representing when the packets are sent at the second vehicle;

subtract each one of the first set of time points by a predetermined value to obtain a second set of time points;

select one of the second set of time points and obtain the relative position of the second vehicle with regard to the first vehicle detected at the selected time point; and

calculate the trajectory of the second vehicle based on the selected relative position, the dynamic data and the second set of time points.

16. The trajectory detection system according to claim 15, wherein the processing device is further configured to:

determine whether there is a pair of neighboring time points in the second set of time points, which have an interval greater than a first predetermined threshold; and

perform an interpolation calculation for the dynamic data corresponding to the pair of neighboring time points in response to determining that the interval between the pair of neighboring time points is greater than the first predetermined threshold.

17. The trajectory detection system according to claim 15, wherein the processing device is further configured to:

determine whether there is a pair of neighboring time points in the second set of time points, which have an interval greater than a second predetermined threshold; and

modify the latter time point in the pair to be closer to the former time point in the pair in response to determining that the interval between the pair of neighboring time points is greater than the second predetermined threshold.

18. A trajectory detection system, comprising a processing device configured to:

generate a trajectory of a first vehicle based on dynamic data containing at least one dynamic feature of the first vehicle and position relationship between the first vehicle and a second vehicle, where the dynamic data are generated by a device mounted on the first vehicle, and the position relationship is generated by an object detection device mounted on the second vehicle.