Method for determining the course of another vehicle

• US 5,786,787 A
• Filed: 12/06/1996
• Issued: 07/28/1998
• Est. Priority Date: 06/07/1994
• Status: Expired due to Term

• Current Assignee: Saab AB
• Original Assignee: Celsiustech Electronics AB
• Inventors: Eriksson, Lars, Tullsson, Bert-Eric
• Primary Examiner(s): Sotomayor, John B.
• Application Number:
  US08/750,588
• Time in Patent Office: 599 Days
• Field of Search: 342/69, 342/70, 342/71, 342/72, 342/107, 342/113, 342/115, 342/146
• US Class Current: 342/70
• CPC Class Codes: G01S 13/58 Velocity or trajectory determination systems; Sense-of-movement determination systems
• CPC Class Codes: G01S 13/66 Radar-tracking systems; Analogous systems
• CPC Class Codes: G01S 13/68 for angle tracking only
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9322 using additional data, e.g. driver condition, road state or weather data
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles

Abstract

A method for determining the course of another vehicle in relation to one'"'"'s own vehicle by measuring the position of the other vehicle in relation to one'"'"'s own vehicle with a transmitter/receiver system, such as a radar system permits course determination both on straight and on bend segments. According to the method, the side location of the other vehicle and one'"'"'s own vehicle is determined at a position where the other vehicle is level with one'"'"'s own vehicle, by moving the front vehicle backwards in time and/or moving the rear vehicle forwards in time, on the basis of position measurements of the position of the other vehicle. The side location of the other vehicle is compared with the side location of one'"'"'s own vehicle, by which a measure of the discrepancy between the course of the other vehicle and the course of one'"'"'s own vehicle is obtained. According to the invention, the position where the other vehicle is level with one'"'"'s own vehicle may be determined on the basis of the inertial speed vector of the other vehicle at one or more points in time.

Claims

1. A method for determining the course of another vehicle in relation to one'"'"'s own vehicle by measuring the position of the other vehicle in relation to one'"'"'s own vehicle with a transmitter/receiver system, said method comprising the steps of:

a) determining the position of the other vehicle by position measurements,

b) determining the side location of the other vehicle and one'"'"'s own vehicle at a position where the other vehicle is level with one'"'"'s own vehicle on the basis of said position measurements by moving at least one of

     1) the front vehicle backwardly in time and

     2) the rear vehicle forwardly in time,

c) comparing the side location of the other vehicle at the position determined in step b) with the side location of one'"'"'s own vehicle, and

d) using the difference in the side locations between one'"'"'s own vehicle and the other vehicle as a measure of the discrepancy between the course of the other vehicle and the course of one'"'"'s own vehicle, and

wherein the position where the other vehicle is level with one'"'"'s own vehicle is determined on the basis of the other vehicle'"'"'s inertial speed vector at one or more points in time.

2. A method according to claim 1, wherein the inertial speed vector of the other vehicle is determined by means of the observed relative movement in terms of distance and angle being corrected in response to the speed and rotational speed of one'"'"'s own vehicle.

3. A method according to claim 2, wherein the rotational speed of one'"'"'s own vehicle is measured by a sensor.

4. A method according to claim 3, wherein said sensor measures angular velocity.

5. A method according to claim 1, wherein the position where the other vehicle is level with one'"'"'s own vehicle is determined by identifying that point on the line passing through the other vehicle and directed along the other vehicle'"'"'s momentary inertial speed vector, which lies between one'"'"'s own vehicle and the other vehicle and whose distance from the other vehicle is a certain proportion k of the distance between one'"'"'s own vehicle and the other vehicle, wherein the proportion k is determined as a function of the distance and the other vehicle'"'"'s current and earlier inertial speed vectors, and wherein the point'"'"'s side location corresponds to the side location of the other vehicle level with one'"'"'s own vehicle.

6. A method according to claim 5, wherein the proportion k is constant.

7. A method according to claim 6, wherein the proportion k is a constant in the range of 0.4≦

k≦

0.6.

8. A method according to claim 4, wherein the position where the other vehicle is level with one'"'"'s own vehicle can be determined also by different method.

9. A method according to claim 4, wherein the position where the other vehicle is level with one'"'"'s own vehicle is determined for distances within a certain distance range.

10. A method according to claim 1, wherein on the basis of position measurements, the inertial speed vector of the other vehicle is determined over a period of time corresponding to at least the time gap between the other vehicle and one'"'"'s own vehicle, and wherein the other vehicle and one'"'"'s own vehicle are moved level with each other by performing time integration in the longitudinal direction until the other vehicle is situated level with one'"'"'s own vehicle, and at the same time performing integration in the transverse direction, where the longitudinal direction corresponds to the direction of travel of one'"'"'s own vehicle, and the transverse direction corresponds to a direction at right angles to the direction of travel.

11. A method according to claim 10, wherein time integration of the inertial speed vector of the other vehicle is resolved to a new system of coordinates in order to compensate for the rotational movements of one'"'"'s own vehicle.

12. A method according to claim 11, in which the resolution is performed on the basis of recorded signals from a sensor which measures an angular velocity (yaw rate sensor).

13. A method according to claim 12, wherein in the resolution, the small angle approximations sin (x)=x and cos(x)=1 are used.

14. The method according to claim 10, wherein the position where the other vehicle is level with one'"'"'s own vehicle can be determined by a different method.

15. A method according to claim 4, wherein the position where the other vehicle is level with one'"'"'s own vehicle is determined for relatively short distances.

16. A method according to claim 9, wherein the position where the other vehicle is level with one'"'"'s own vehicle is determined for relatively long distances.