VEHICLE SYSTEM FOR DETECTION OF ONCOMING VEHICLES
First Claim
1. A vehicle environment detection system adapted to be mounted in an ego vehicle comprising, at least one vehicle environment sensor arrangement and a main control unit, where the vehicle environment detection system is arranged to detect and track at least one oncoming vehicle, where the vehicle environment detection system is arranged to determine when the ego vehicle has entered a curve, wherein when the vehicle environment detection system has determined that the ego vehicle has entered the curve, for the oncoming vehicle the main control unit is arranged to:
- determine an ego direction along which the ego vehicle travels with a corresponding ego direction angle with respect to a predetermined axis;
determine a measured oncoming direction of the oncoming vehicle with a corresponding oncoming angle with respect to the predetermined axis during a plurality of measurement cycles;
determine a difference angle between the measured oncoming direction and the ego direction;
compare the difference angle with a threshold angle; and
determine that the oncoming vehicle is crossing if the difference angle has been determined to exceed the threshold angle.
2 Assignments
0 Petitions
Accused Products
Abstract
A vehicle environment detection system (40) in an ego vehicle (1), including a sensor arrangement (4) and a main control unit (8) is arranged to detect and track at least one oncoming vehicle (9), and to determine whether the ego vehicle (1) has entered a curve (17). When this is the case. The main control unit (8) is arranged to, determine an ego direction (21) along which the ego vehicle (1) travels with a corresponding ego direction angle (γego) with respect to a predetermined axis (xglob), determine a measured oncoming direction (18) of the tracked oncoming vehicle (9) with a corresponding oncoming angle (θtrack, glob) with respect to the predetermined axis (xglob) during a plurality of radar cycles, determine a difference angle (δ) between the measured oncoming direction (18) and the ego direction (21), and compare the difference angle (δ) with a threshold angle (θmax), and to determine that the oncoming vehicle (9) is crossing if the difference angle (δ) exceeds the threshold angle (θmax).
1 Citation
12 Claims
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1. A vehicle environment detection system adapted to be mounted in an ego vehicle comprising, at least one vehicle environment sensor arrangement and a main control unit, where the vehicle environment detection system is arranged to detect and track at least one oncoming vehicle, where the vehicle environment detection system is arranged to determine when the ego vehicle has entered a curve, wherein when the vehicle environment detection system has determined that the ego vehicle has entered the curve, for the oncoming vehicle the main control unit is arranged to:
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determine an ego direction along which the ego vehicle travels with a corresponding ego direction angle with respect to a predetermined axis; determine a measured oncoming direction of the oncoming vehicle with a corresponding oncoming angle with respect to the predetermined axis during a plurality of measurement cycles; determine a difference angle between the measured oncoming direction and the ego direction; compare the difference angle with a threshold angle; and determine that the oncoming vehicle is crossing if the difference angle has been determined to exceed the threshold angle. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A method for detecting oncoming vehicles relative an ego vehicle, where the method comprises the steps of:
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detecting and tracking at least one oncoming vehicle; and determining whether the ego vehicle has entered a curve, and wherein when it has been determined that the ego vehicle has entered the curve, for the oncoming vehicle, the method further comprises; determining an ego direction along which the ego vehicle travels with a corresponding ego direction angle with respect to a predetermined axis; determining a measured oncoming direction of the oncoming vehicle with a corresponding oncoming angle with respect to the predetermined axis during a plurality of measurement cycles; determining a difference angle between the measured oncoming direction and the ego direction; comparing the difference angle with a threshold angle; and determining that the oncoming vehicle is crossing if the difference angle has been determined to exceed the threshold angle. - View Dependent Claims (9, 10, 11, 12)
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Specification