Method for evaluating objects in the path of a vehicle

• US 6,653,935 B1
• Filed: 11/10/2000
• Issued: 11/25/2003
• Est. Priority Date: 11/12/1999
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Winner, Hermann, Lueder, Jens
• Primary Examiner(s): Wu, Daniel J.
• Assistant Examiner(s): Nguyen, Tai T.
• Application Number:
  US09/709,773
• Time in Patent Office: 1,110 Days
• Field of Search: 340/435, 340/436, 340/438, 340/901, 340/903, 340/905, 340/937, 701/96, 701/93, 701/36, 701/41
• US Class Current: 340/435
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• 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 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control
• 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 evaluating objects in the path of a vehicle, in which a sensor is used to detect the distance (d_zo, d_zi) and/or the speed of the target objects (Zo, Zi). In the presence of more than one target object (Zo, Zi), only the target object (Zi) that is in an area limited by at least one parameter defined by the position relative to the vehicle (F), is included in the evaluation as a new target object (Zo), instead of the current one. The following parameters can be included as conditions for selecting a new target object: d_zi≦MAX (d_min, d_zo+d₀, α*d_zo).

Claims

1. A method for evaluating objects in the path of a vehicle, comprising the steps of:

detecting at least one of a distance and a relative velocity of at least one object relative to the vehicle using a sensor;

determining a current target distance between the vehicle and a current target object;

if more than one object is detected, evaluating each object located within an area defined based upon at least one parameter related to the current target distance, as a possible new target object;

using as a farther measured value an amount of a lateral deviation of a current target object from one of a precalculated path line and a path range; and

taking into account, in the evaluation, an absolute value of the lateral deviation of the current target object if the absolute value of the lateral deviation of the current target object is greater than an absolute value of a lateral deviation of a closest target object, and the closest target object is located at a greater distance from the vehicle than the current target object.

2. A method for evaluating objects in the path of a vehicle, comprising the steps of:

detecting at least one of a distance and a relative velocity of at least one target object using a sensor, wherein, in the presence of more than one target object, only a target object that is located in an area limited by at least one parameter defined by a position relative to the vehicle is included in an evaluation as a possible new target object, instead of a current one;

using as a further measured value an amount of a lateral deviation of a current target object from one of a precalculated path line and a path range; and

taking into account, in the evaluation, an absolute value of the lateral deviation of the current target object if the absolute value of the lateral deviation of the current target object is greater than an absolute value of a lateral deviation of a closest target object, and the closest target object is located at a greater distance from the vehicle than the current target object.