SYSTEM AND METHOD FOR AUTOMATIC TRAILER DETECTION
First Claim
1. A system for determining when a trailer is located behind a vehicle, the system comprising:
- at least one detection device configured to detect objects located behind the vehicle;
a processor, the processor being in communication with the at least one detection device and a plurality of signals generated by the vehicle;
the processor being configured to;
receive data from the at least one detection device, the data including a plurality of targets detected by the at least one detection device,identify if at least one cluster exists and cluster the targets into at least one cluster to form cluster features when at least one cluster exists,determine a vehicle state based on the vehicle dynamic features from the plurality of signals generated by the vehicle, wherein vehicle state includes at least one of the following;
stopped, turning, traveling straight at a steady speed, or traveling straight under acceleration,determine global features from data from the at least one detection device, the global features include statistical features, spatial features and relative velocity features, statistical features include at least one of the following;
standard deviation of the targets in either the X or Y direction or the standard deviation of the difference of the targets in either the X or Y direction, the largest difference in the Y direction or principle component analysis of the targets, spatial features include quantized spatial data in the X direction or Y direction, relative velocity features include ratio of data in different relative speed bins; and
determine when the trailer is located behind the vehicle based on the cluster features, the vehicle state, or the global features.
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Accused Products
Abstract
A system and method for determining when a trailer is located behind a vehicle includes at least one detection device configured to detect objects located behind the vehicle and a processor. The processor is in communication with the at least one detection device and a plurality of signals generated by the vehicle. The processor receives data from the at least one detection device. The data includes a plurality of targets detected by the at least one detection device. Next, the processor determines if one or more clusters exists and clusters the targets into at least one cluster to form cluster features when one or more clusters exist. The processor determines vehicle state based on the vehicle dynamic features from the plurality of signals generated by the vehicle as well as global features from data from the at least one detection device and determines when the trailer is located behind the vehicle based on the cluster features, the vehicle state, and/or the global features.
20 Citations
22 Claims
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1. A system for determining when a trailer is located behind a vehicle, the system comprising:
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at least one detection device configured to detect objects located behind the vehicle; a processor, the processor being in communication with the at least one detection device and a plurality of signals generated by the vehicle; the processor being configured to; receive data from the at least one detection device, the data including a plurality of targets detected by the at least one detection device, identify if at least one cluster exists and cluster the targets into at least one cluster to form cluster features when at least one cluster exists, determine a vehicle state based on the vehicle dynamic features from the plurality of signals generated by the vehicle, wherein vehicle state includes at least one of the following;
stopped, turning, traveling straight at a steady speed, or traveling straight under acceleration,determine global features from data from the at least one detection device, the global features include statistical features, spatial features and relative velocity features, statistical features include at least one of the following;
standard deviation of the targets in either the X or Y direction or the standard deviation of the difference of the targets in either the X or Y direction, the largest difference in the Y direction or principle component analysis of the targets, spatial features include quantized spatial data in the X direction or Y direction, relative velocity features include ratio of data in different relative speed bins; anddetermine when the trailer is located behind the vehicle based on the cluster features, the vehicle state, or the global features. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method for determining when a trailer is located behind a vehicle, the method comprising:
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receiving data from at least one detection device configured to detect objects located behind the vehicle, the data including a plurality of targets detected by the at least one detection device; identifying if at least one cluster exists and clustering the targets into at least one cluster to form cluster features when at least one cluster exists; determining a vehicle states based on the dynamic features from the plurality of signals generated by the vehicle, wherein the vehicle state includes at least one of the following;
stopped, turning, traveling straight at a steady speed, or traveling straight under acceleration;determining global features from data from the at least one detection device, the global features include statistical features, spatial features, and relative velocity features, statistical features include at least one of the following;
statistical features of the standard deviation of the targets in either the X or Y direction or the standard deviation of the difference of the targets in either the X or Y direction, the largest difference in the Y direction or principle component analysis of the targets, spatial features include quantized spatial data in the x-direction or y-direction, relative velocity features include ratio of data in different relative speed bins; anddetermining when the trailer is located behind the vehicle based on the cluster features, the vehicle state, or the global features. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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Specification