Method and system for detecting an in-path target obstacle in front of a vehicle

• US 5,926,126 A
• Filed: 09/08/1997
• Issued: 07/20/1999
• Est. Priority Date: 09/08/1997
• Status: Expired due to Term

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Engelman, Gerald H.
• Primary Examiner(s): Sotomayor, John B.
• Application Number:
  US08/925,244
• Time in Patent Office: 680 Days
• Field of Search: 342/70, 342/71, 342/72, 340/903, 340/933, 340/935, 340/988, 340/435, 340/436, 701/117, 701/118, 701/119, 701/300, 701/301, 701/302
• US Class Current: 342/70
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60W 2050/0052 Filtering, filters
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2552/20 Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 30/18145 Cornering
• 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 2013/93271 in the front of the vehicles

Abstract

A method and system for detecting a target obstacle in front of a vehicle traveling on a road includes a radar positioned at a center of the vehicle for transmitting radar waves ahead of the vehicle for use in determining a first position of the objects in front of the vehicle relative to the radar. A lane position measurement device determines a lateral deviation between the center of the vehicle and a lane boundary of the road. Control logic then determines a curvature of the road based on the lateral deviation, independent of the traveling path of the vehicle. The control logic then determines a second position of the objects based on the curvature of the road and the target obstacle based on the second position of the objects.

Claims

1. A method for detecting a target obstacle in front of a vehicle traveling on a road, the vehicle having a radar positioned at a center of the vehicle for transmitting radar waves ahead of the vehicle, the method comprising:

determining a first position of at least one object in front of the vehicle relative to the radar based on the radar waves;

determining a tangent of the lane boundary of the road;

determining a line intersecting the tangent perpendicularly through the center of the vehicle and the lane boundary so as to define a point corresponding to a first lateral deviation between the center of the vehicle and a lane boundary of the road;

determining a curvature of the road based on the first lateral deviation;

determining a second position of the at least one object relative to the radar and the road based on the curvature of the road; and

determining the target obstacle based on the second position of the at least one object.

2. The method as recited in claim 1 wherein determining the first position includes:

determining a distance of the at least one object from the radar; and

determining an angle between the at least one object and a center of the radar.

3. The method as recited in claim 1 wherein determining the first lateral deviation includes:

determining a speed of the point; and

determining an angular rotation of the point.

4. The method as recited in claim 3 wherein determining the speed of the point includes:

determining a heading angle representative of a direction in which the vehicle is traveling with respect to a tangent of the lane boundary.

5. The method as recited in claim 4 wherein determining the angular rotation of the point includes:

determining a derivative of the heading angle; and

comparing the derivative with an angular rotation of the vehicle.

6. The method as recited in claim 1 wherein determining the second position includes:

determining a second lateral deviation between a center of the at least one object and the lane boundary of the road based on first lateral deviation and the curvature of the road.

7. The method as recited in claim 6 wherein the road has a predetermined lane width and wherein determining the target obstacle comprises comparing the second lateral deviation with the first lateral deviation and the predetermined lane width.

8. A system for detecting a target obstacle in front of a vehicle traveling on a road, the system comprising:

a radar positioned at a center of the vehicle for transmitting radar waves ahead of the vehicle;

a lane position measurement device for determining a tangent of the lane boundary of the road and a line intersecting the tangent perpendicularly through the center of the vehicle and the lane boundary so as to define a point corresponding to a first lateral deviation between the center of the vehicle and a lane boundary of the road; and

control logic operative to determine a first position of at least one object in front of the vehicle relative to the radar based on the radar waves, determine a curvature of the road based on the first lateral deviation, determine a second position of the at least one object relative to the radar and the road based on the curvature, and determine the target obstacle based on the second position of the at least one object.

9. The system as recited in claim 8 wherein the control logic, in determining the first position, is further operative to determine a distance of the at least one object from the radar and determine an angle between the at least one object and a center line of the vehicle.

10. The system as recited in claim 8 further comprising:

a sensor for sensing a speed of the vehicle and generating a corresponding vehicle speed signal;

an angular rotation sensor for sensing an angular rotation of the vehicle and generating a corresponding rotation signal; and

wherein the control logic, in determining the curvature, is further operative to determine the speed of the point based on the speed signal, and determine the angular rotation of the point based on the rotation signal.

11. The system as recited in claim 10 wherein the control logic, in determining the speed of the point, is further operative to determine a heading angle representative of a direction in which the vehicle is traveling with respect to a tangent of the lane boundary.

12. The system as recited in claim 11 wherein the control logic, in determining the angular rotation of the point, is further operative to determine a derivative of the heading angle and compare the derivative with the angular rotation signal.

13. The system as recited in claim 8 wherein the control logic, in determining the second position, is further operative to determine a second lateral deviation between a center of the at least one object and the lane boundary of the road based on first lateral deviation and the curvature of the road.

14. The system as recited in claim 13 wherein the road has a predetermined lane width and wherein the control logic, in determining the target obstacle, is further operative to compare the second lateral deviation with the first lateral deviation and the predetermined lane width.

15. A method for determining if an object is a target obstacle in the path of a vehicle traveling on a road, the vehicle having a radar positioned at a center of the vehicle for transmitting radar waves ahead of the vehicle and detecting the object, the method comprising:

determining a first position of at least one object in front of the vehicle relative to the radar based on the radar waves;

determining a tangent of the lane boundary of the road;

determining a line intersecting the tangent perpendicularly through the center of the vehicle and the lane boundary so as to define a point corresponding to a first lateral deviation between the center of the vehicle and a lane boundary of the road;

determining a curvature of the road based on the first lateral deviation;

determining a second position of the at least one object relative to the radar and the road based on the curvature of the road; and

determining if the object is in the path of the vehicle based on the second position of the at least one object.

16. The method as recited in claim 15 wherein determining the first lateral deviation includes:

determining a tangent of the lane boundary of the road; and

determining a line intersecting the tangent perpendicularly through the center of the vehicle and the lane boundary so as to define a point.

17. The method as recited in claim 15 wherein determining the second position includes:

determining a second lateral deviation between a center of the at least one object and the lane boundary of the road based on the first lateral deviation and the curvature of the road.

18. A system for determining if an object is a target obstacle in the path of a vehicle traveling on a road, the system comprising:

a radar positioned at a center of the vehicle for transmitting radar waves ahead of the vehicle and detecting the object;

a lane position measurement device for determining a tangent of the lane boundary of the road and a line intersecting the tangent perpendicularly through the center of the vehicle and the lane boundary so as to define a point corresponding to a first lateral deviation between the center of the vehicle and a lane boundary of the road; and

control logic operative to determine a first position of at least one object in front of the vehicle relative to the radar based on the radar waves, determine a curvature of the road based on the first lateral deviation, determine a second position of the at least one object relative to the radar and the road based on the curvature, and determine if the object is in the path of the vehicle based on the second position of the at least one object.

19. The system as recited in claim 18

wherein the control logic, in determining the first lateral deviation, is further operative to determine a tangent of the lane boundary of the road and determine a line intersecting the tangent perpendicularly through the center of the vehicle and the lane boundary so as to define a point.

20. The system as recited in claim 18 wherein the control logic, in determining the second position, is further operative to determine a second lateral deviation between a center of the at least one object and the lane boundary of the road based on the first lateral deviation and the curvature of the road.