OPERATION-SECURITY SYSTEM FOR AN AUTOMATED VEHICLE

• US 20180039269A1
• Filed: 08/05/2016
• Published: 02/08/2018
• Est. Priority Date: 08/05/2016
• Status: Active Grant

• Current Assignee: Motional AD, LLC (Aptiv PLC)
• Original Assignee: Delphi Technologies, Inc. (BorgWarner Incorporated)
• Inventors: LAMBERMONT, SERGE, KIM, JUNSUNG, WEI, JUNQING, BHATIA, GAURAV
• Granted Patent: US 10,571,913 B2
• Time in Patent Office: Days
• CPC Class Codes: G01S 13/865 Combination of radar systems with lidar systems
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9316 combined with communication equipment with other vehicles or with base stations
• CPC Class Codes: G01S 2013/9318 Controlling the steering
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/9319 Controlling the accelerator
• CPC Class Codes: G05D 1/0077 using redundant signals or controls
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0248 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G05D 1/247 using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
• CPC Class Codes: G05D 1/81 Handing over between on-board automatic and on-board manual control
• CPC Class Codes: G05D 1/87 using redundant control arrangements
• CPC Class Codes: G08G 1/163 involving continuous checking
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

An operation-security system for an automated vehicle includes an object-detector and a controller. The object-detector includes at least three sensors. Each sensor is one of a camera used to determine an image-location of an object proximate to a host-vehicle, a lidar-unit used to determine a lidar-location of the object proximate to the host-vehicle, and a radar-unit used to determine a radar-location of the object proximate to the host-vehicle. The controller is in communication with the at least three sensors. The controller is configured to determine a composite-location based on a comparison of locations indicated by the at least three sensors. Information from one sensor is ignored when a respective location indicated by the one sensor differs from the composite-location by greater than an error-threshold. If a remote sensor not on the host-vehicle is used, V2V or V2I communications may be used to communicate a location to the host-vehicle.

Claims

1. An operation-security system for an automated vehicle, said system comprising:

an object-detector that includes at least three sensors, wherein each sensor is one of a camera used to determine an image-location of an object proximate to a host-vehicle,

a lidar-unit used to determine a lidar-location of the object proximate to the host-vehicle, and

a radar-unit used to determine a radar-location of the object proximate to the host-vehicle; and

a controller in communication with the at least three sensors, said controller configured to determine a composite-location based on a comparison of locations indicated by the at least three sensors, wherein information from one sensor is ignored when a respective location indicated by the one sensor differs from the composite-location by greater than an error-threshold.

2. An operation-security system for an automated vehicle, said system comprising:

a camera used to determine an image-location of an object proximate to a host-vehicle;

a lidar-unit used to determine a lidar-location of the object proximate to the host-vehicle;

a radar-unit used to determine a radar-location of the object proximate to the host-vehicle; and

a controller in communication with the camera, the radar-unit, and the lidar-unit, said controller configured to determine a composite-location based on a comparison of the imager-location, the radar-location, and the lidar-location, wherein information from one of the camera, the radar-unit, and the lidar-unit is ignored when one of the imager-location, the radar-location, and the lidar-location differs from the composite-location by greater than an error-threshold.

3. An operation-security system for an automated vehicle, said system comprising:

an object-detector used to determine a first-location of an object proximate to a host-vehicle at a first-time, and a second-location of the object at a second-time characterized as a sampling-interval after the first-time; and

a controller in communication with the object-detector, said controller configured to determine a motion-vector of the host-vehicle, estimate an expected-location of the object at the second-time based on the motion-vector, the first-location, and the sampling-interval, wherein information from the object-detector at the second-time is ignored when the expected-location differs from the second-location by greater than an error-threshold.

4. The system in accordance with claim 3, wherein the controller is configured to determine an object-vector based on a prior-difference between the first-location and a prior-location of the object proximate to the host-vehicle at a prior-time prior to the first-time, wherein the expected-location is also determined based on the object-vector.

5. An operation-security system for an automated vehicle, said system comprising:

an object-detector that includes an on-vehicle sensor mounted on a host-vehicle, said on-vehicle sensor used to determine a detected-location of an object proximate to the host-vehicle;

a transceiver used to receive a reported-location of the object determined by a remote sensor not mounted on the host-vehicle; and

a controller in communication with the on-vehicle sensor and the transceiver, said controller configured to compare the detected-location and the reported-location, and ignore information from the transceiver when the detected-location differs from the reported-location by greater than an error-threshold.