Method for determining object classification from side-looking sensor data

• US 6,680,689 B1
• Filed: 03/28/2003
• Issued: 01/20/2004
• Est. Priority Date: 03/28/2003
• Status: Expired due to Term

• Current Assignee: Veoneer US LLC (Magna International Incorporated)
• Original Assignee: Visteon Global Technologies Incorporated (Visteon Corporation)
• Inventors: Zoratti, Paul K.
• Primary Examiner(s): Tarcza, Thomas H.
• Assistant Examiner(s): ANDREA, BRIAN K
• Application Number:
  US10/402,043
• Time in Patent Office: 298 Days
• Field of Search: 342/70, 342/71, 180/167-169, 340/435, 340/436, 340/992, 701/301, 701/223, 701/96
• US Class Current: 342/70
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 2013/9315 Monitoring blind spots
• CPC Class Codes: G01S 2013/93274 on the side of the vehicles
• CPC Class Codes: G01S 2015/933 for measuring the dimensions of the parking space when driving past

Abstract

An object type of a 3-D object sensed by a remote sensor for detecting objects to a side of a transportation vehicle is classified according to whether the object is a stationary object or a moving vehicle. The transportation vehicle moves along a front-to-rear directional axis. The remote sensor is mounted at a predetermined reference point on the transportation vehicle. A set of detection points is identified substantially to the side of the transportation vehicle using the remote sensor. A closest one of the detection points to the remote sensor is identified. If the closest one of the detection points is at a substantially perpendicular direction from the remote sensor, then a size of the object is determined in response to an area defined by locations of the set of detection points. The size of the object is compared with a size threshold. If the size is greater than the size threshold then the object is classified as a stationary object.

Claims

1. A method of classifying an object type of a 3-D object sensed by a remote sensor for detecting objects to a side of a transportation vehicle, said transportation vehicle moving along a front-to-rear directional axis, said remote sensor being mounted at a predetermined reference point on said transportation vehicle, said method comprising the steps of:

identifying a set of detection points substantially to said side of said transportation vehicle using said remote sensor;

identifying a closest one of said detection points to said remote sensor;

if said closest one of said detection points is at a substantially perpendicular direction from said remote sensor, then;

determining a size of said object in response to an area defined by locations of said set of detection points;

comparing said size of said object with a size threshold; and

if said size is less than said size threshold then classifying said object as a stationary object.

2. The method of claim 1 further comprising the step of classifying said object as a moving vehicle if said size is greater than said side threshold.

3. The method of claim 1 wherein said area is determined in response to a spatial spread of said detection points in two orthogonal directions.

4. The method of claim 1 wherein said classifying step further comprises:

comparing a stability of said size over a plurality of sample times with a stability threshold and if said stability indicates instability over said stability threshold then classifying said object as a stationary object.

5. The method of claim 4 further comprising the step of classifying said object as a moving vehicle if said stability indicates instability less than said stability threshold.

6. The method of claim 1 wherein said classifying step further comprises:

comparing an amplitude of said sensor data with an amplitude threshold and if said amplitude is less than said amplitude threshold then classifying said object as a stationary object.

7. The method of claim 6 further comprising the step of classifying said object as a moving vehicle if said amplitude is greater than said amplitude threshold.

8. The method of claim 6 wherein said amplitude excludes said closest one of said detection points if it is at a substantially perpendicular direction from said remote sensor.

9. The method of claim 1 wherein said classifying step further comprises:

comparing a nearest-point range stability with a nearness stability threshold and if said nearest-point range stability indicates instability over said nearness stability threshold then classifying said object as a stationary object.

10. The method of claim 9 further comprising the step of classifying said object as a moving vehicle if said nearest-point range stability indicates instability less than said nearness stability threshold.

11. The method of claim 1 wherein said classifying step further comprises:

comparing an edge stability with an edge stability threshold and if said edge stability indicates instability over said edge stability threshold then classifying said object as a stationary object.

12. The method of claim 11 further comprising the step of classifying said object as a moving vehicle if said edge stability indicates instability less than said edge stability threshold.

13. The method of claim 11 wherein said edge stability is determined in response to a change in a front-to-back location of an extremity detection point over a plurality of sample times.

14. The method of claim 13 wherein said extremity detection point is selected from the group comprising a maximum forward point, a maximum rearward point, and a nearest point to said remote sensor.

15. The method of claim 1 wherein said classifying step further comprises:

if said closest one of said detection points is not at a substantially perpendicular direction from said remote sensor, then comparing a stability of a size of said object over a plurality of sample times with a size stability threshold and if said size stability indicates instability over said size stability threshold then classifying said object as a stationary object.

16. The method of claim 15 further comprising the step of classifying said object as a moving vehicle if said size stability indicates an instability less than said size stability threshold.

17. The method of claim 1 wherein said classifying step further comprises:

if said closest one of said detection points is not at a substantially perpendicular direction from said remote sensor, then;

determining a rate of motion of a selected object point between separate sets of said detection points;

comparing said rate of motion with a tracking threshold determined in response to a speed of said vehicle; and

if said comparison indicates that said object is tracking at a relative speed equal to or greater than said speed of said vehicle but in an opposite direction, then classifying said object as a stationary object.

18. The method of claim 17 wherein if said comparison indicates that said object is not tracking at a relative speed equal to or greater than said speed of said vehicle but in an opposite direction, then comparing an edge stability with an edge stability threshold and if said edge stability indicates instability over said edge stability threshold then classifying said object as a stationary object.

19. The method of claim 17 further comprising the step of classifying said object as a moving vehicle if said edge stability indicates instability less than said edge stability threshold.