Automatic sensor azimuth alignment
First Claim
1. A method of automatically determining the angle of alignment of a forward looking sensor mounted on a host vehicle relative to the path of travel of the host vehicle while the host vehicle is traveling on a road adjacent a target, the sensor making periodic sensor readings and each reading including a set of range and azimuth angle measurements of the target, the host vehicle further including a path prediction unit which provides host path data representative of the direction of travel of the host vehicle, said method comprising the steps of:
- a) receiving a plurality of said sensor readings at time intervals over a segment of the road;
b) for each of said readings, determining the location point of the target based on the range and azimuth angle data;
c) from the location point determinations for a plurality of said sensor readings, determining the trajectory line of said target; and
d) From said trajectory line and from said direction of travel of said host vehicle, determining any misalignment angle of said sensor relative to said direction of travel.
2 Assignments
0 Petitions
Accused Products
Abstract
This disclosure relates to a system for automatically measuring and compensating for any angle of misalignment of a forward-looking sensor of a vehicle. The sensor provides data representing the azimuth angle and the range of a target such as another vehicle. For each angle and range reading of the sensor, the location point of the target is estimated; after a series of such readings, the trajectory line of the target is estimated. The angle of misalignment is estimated from the angle between the trajectory line and the path of travel of the host vehicle. In subsequent readings of the sensor, the estimated angle of misalignment is subtracted from the measured azimuth angle to produce an accurate azimuth angle of the target. The accurate azimuth angle is provided for use by another unit such as a collision warning system and/or an intelligent cruise control.
264 Citations
15 Claims
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1. A method of automatically determining the angle of alignment of a forward looking sensor mounted on a host vehicle relative to the path of travel of the host vehicle while the host vehicle is traveling on a road adjacent a target, the sensor making periodic sensor readings and each reading including a set of range and azimuth angle measurements of the target, the host vehicle further including a path prediction unit which provides host path data representative of the direction of travel of the host vehicle, said method comprising the steps of:
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a) receiving a plurality of said sensor readings at time intervals over a segment of the road; b) for each of said readings, determining the location point of the target based on the range and azimuth angle data; c) from the location point determinations for a plurality of said sensor readings, determining the trajectory line of said target; and d) From said trajectory line and from said direction of travel of said host vehicle, determining any misalignment angle of said sensor relative to said direction of travel. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method of automatically correcting for any misalignment of a forward-looking sensor mounted on a host vehicle while the host vehicle is moving on a vehicle path adjacent a target, the sensor making periodic readings and each reading including a set of range and azimuth angle measurements of the target, the vehicle further including a path prediction unit which provides path data representative of the direction of travel and the speed of the host vehicle, said method comprising the steps of:
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a) processing a set of said range and azimuth angle measurements and estimating the target location point; b) repeating step (a) for a plurality of readings over a segment of said vehicle path; c) processing said plurality of readings from step (b) to produce a line representing the trajectory of the target; d) estimating the alignment angle of said sensor relative to the direction of travel of said host vehicle based on said line and said path data; and e) in subsequent readings of said sensor, combining said estimated alignment angle with the azimuth angle to compensate for any misalignment of said sensor. - View Dependent Claims (8, 9, 10, 11)
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12. Apparatus for determining the angle of any misalignment of a forward-looking sensor mounted on a host vehicle relative to the path of travel of the host vehicle, the sensor producing a set of range and azimuth angle data of a target at each of a series of readings, the host vehicle further including a path prediction unit for producing path data, said apparatus comprising:
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a) first processing means responsive to a plurality of said sensor readings for producing a plurality of location points of said target; b) second processing means responsive to said plurality of location points for estimating a trajectory line of the target; and c) third processing means responsive to said path data and to said trajectory line for estimating said angle of any misalignment. - View Dependent Claims (13)
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14. An automatic azimuth angle correction system for a host vehicle, comprising:
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a) a forward-looking sensor for mounting on the host vehicle, said sensor being operable to make periodic readings of a target and each reading including a set of range and azimuth angle measurements of the target; b) a path prediction unit for producing path prediction data of the host vehicle; c) first processing means responsive to a plurality of said sensor readings for producing a plurality of location points of said target; d) second processing means responsive to said plurality of location points for estimating a trajectory line of the target; and e) third processing means responsive to said path data and to said trajectory line for estimating any angle of misalignment. - View Dependent Claims (15)
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Specification