Method and device for estimating movement parameters of targets

• US 6,785,631 B2
• Filed: 01/24/2003
• Issued: 08/31/2004
• Est. Priority Date: 01/08/2001
• Status: Expired due to Fees

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Hoetzel, Juergen, Brosche, Thomas, Steinlechner, Siegbert, Schlick, Michael
• Primary Examiner(s): Shah, Kamini
• Assistant Examiner(s): LAU, TUNG S
• Application Number:
  US10/221,082
• Publication Number:
  US 20030163280A1
• Time in Patent Office: 585 Days
• Field of Search: 702/141, 702/121, 701/93, 701/301, 701/300, 701/455, 340/905, 340/454, 340/41, 340/436, 180/167
• US Class Current: 702/141
• CPC Class Codes: G08G 1/161 Decentralised systems, e.g. inter-vehicle communication

Abstract

A device for outputting parameter values and a method of providing parameter values which pertain to the relative kinematic behavior of an object, in particular a first vehicle, and a target object, in particular a second vehicle, a conclusion is drawn based on the parameter values as to whether the object and the target object will probably collide. The method involves providing a sensor system on the object, the sensor system being provided for transmitting and receiving signals to determine measured values r_i, v_r,i for target object distance r and/or for relative radial velocity v_r between the object and the target object, determining measured values r_i, v_r,i and analyzing measured values r_i, v_r,i thus determined and providing the parameter values based on the signals received by a receiver.

Claims

1. A method of providing at least two parameter values pertaining to a relative kinematic behavior of an object and a target object, for which a conclusion is determinable based on the at least two parameter values as to whether the object and the target object will probably collide, the method comprising:

providing on the object a sensor system to transmit and receive a plurality of signals to determine at least two measured values for at least one of a distance and a relative radial velocity of the target object;

determining the at least two measured values;

analyzing the at least two measured values based on the plurality of signals received by a receiver; and

providing the at least two parameter values based on analyzing the at least two measured values;

wherein a vector {right arrow over (p)} contains the at least two parameter values and is of the form;

10. The method of claims 1, 2, 3 or 5, wherein the object is a first vehicle and the target object is a second vehicle.

11. The method of claims 1, 2, 3 or 5, wherein the at least two parameter values pertain to at least one of a relative acceleration of the target object, a relative radial acceleration of the target object, a relative velocity of the target object, the relative radial velocity of the target object, an offset between the object and the target object, and an angle between vectors of a relative velocity of the target object and the relative radial velocity of the target object, corresponding to an angle between vectors of a relative acceleration of the target object and a relative radial acceleration of the target object.

12. The method of claim 1, wherein the at least two parameter values for parameters in the vector {right arrow over (p)} are estimated based on the at least two measured values.

13. The method of claim 1, wherein the at least two parameter values for parameter values in the vector {right arrow over (p)} are estimated based on at least two points in time and at least two measured values of at least one of at least two target object distances and at least two relative radial velocities by using an optimization method by determining a minimum of a norm Q({right arrow over (p)}) defined as follows:

14. The method of claim 1, wherein the at least two parameter values for parameter values in the vector {right arrow over (p)} are estimated based on at least two points in time and at least two measured values of at least one of at least two target object distances and at least two relative radial velocities by using an optimization method by determining a minimum of a norm Q({right arrow over (p)}).

2. A method of providing at least two parameter values pertaining to a relative kinematic behavior of an object and a target object, for which a conclusion is determinable based on the at least two parameter values as to whether the object and the target object will probably collide, the method comprising:

providing on the object a sensor system to transmit and receive a plurality of signals to determine at least two measured values for at least one of a distance and a relative radial velocity of the target object;

determining the at least two measured values;

analyzing the at least two measured values based on the plurality of signals received by a receiver; and

providing the at least two parameter values based on analyzing the at least two measured values;

wherein the at least two measured values are at least two target object distances that are measured at different points in time and the target object distance is described by the following equation;

4. The method of claim 2, wherein in the at least two measured values include at least two target object distances and at least two relative radial velocities that are measured at at least two different points in time and the relative radial velocity of the target object is described by the following equation:

$v_r=f<br><br>\left(\stackrel{\to <br><br>}{p},t,r\right)=\frac{\left(v_0+\mathrm{at}\right)<br><br>(r_0<br><br>\cos <br><br>\left({\mathrm{\alpha <br><br>}}_0\right)+v_0<br><br>t+{\mathrm{at}}^2/2}{r},$

where r₀ is the target object distance in a first measurement, v₀ is a relative initial velocity of the target object in the first measurement, a is a relative acceleration of the target object, t is a time and α

₀ is an angle between vectors of a relative velocity of the target object and the relative radial velocity of the target object, corresponding to an angle between vectors of the relative acceleration of the target object and a relative radial acceleration of the target object in the first measurement.

3. A method of providing at least two parameter values pertaining to a relative kinematic behavior of an object and a target object, for which a conclusion is determinable based on the at least two parameter values as to whether the object and the target object will probably collide, the method comprising:

providing on the object a sensor system to transmit and receive a plurality of signals to determine at least two measured values for at least one of a distance and a relative radial velocity of the target object;

determining the at least two measured values;

analyzing the at least two measured values based on the plurality of signals received by a receiver; and

providing the at least two parameter values based on analyzing the at least two measured values;

wherein the at least two measured values include at least two relative radial velocities of the target object that are measured at at least two different points in time and the relative radial velocity of the target object is described by the following equation;

$v_r=f<br><br>\left(\stackrel{\to <br><br>}{p},t\right)=\frac{\left(v_0+\mathrm{at}\right)<br><br>\left(r_0<br><br>\cos <br><br>\left({\mathrm{\alpha <br><br>}}_0\right)+v_0<br><br>t+{\mathrm{at}}^2/2\right)}{\sqrt{{\left(r_0<br><br>\cos <br><br>\left({\mathrm{\alpha <br><br>}}_0\right)+v_0<br><br>t+{\mathrm{at}}^2/2\right)}^2+{\left(r_0<br><br>\sin <br><br>\left({\mathrm{\alpha <br><br>}}_0\right)\right)}^2}},$

 

where r₀ is the target object distance in a first measurement, v₀ is a relative initial velocity of the target object in the first measurement, a is a relative acceleration of the target object, t is a time and α

₀ is an angle between vectors of a relative velocity of the target object and the relative radial velocity of the target object, corresponding to an angle between vectors of the relative acceleration of the target object and a relative radial acceleration of the target object in the first measurement.

5. A method of providing at least two parameter values pertaining to a relative kinematic behavior of an object and a target object, for which a conclusion is determinable based on the at least two parameter values as to whether the object and the target object will probably collide, the method comprising:

providing on the object a sensor system to transmit and receive a plurality of signals to determine at least two measured values for at least one of a distance and a relative radial velocity of the target object;

determining the at least two measured values;

analyzing the at least two measured values based on the plurality of signals received by a receiver; and

providing the at least two parameter values based on analyzing the at least two measured values;

wherein for estimating the at least two parameter values, a norm Q({right arrow over (p)}) is defined as follows;

6. A device for outputting at least two parameter values pertaining to a relative kinematic behavior of an object and a target object, for which a conclusion is determinable based on the at least two parameter values as to whether the object and the target object will probably collide, the device comprising:

a sensor system arranged on the object to transmit and receive a plurality of signals to determine at least two measured values for at least one of a target object distance and a relative radial velocity of the target object; and

an analyzing arrangement to analyze the at least two measured values determined by the sensor system and to output the at least two parameter values based on a plurality of signals received by only one receiver assigned to the sensor system;

wherein a vector {right arrow over (p)} is provided for analyzing the at least two measured values determined by the sensor system, the vector {right arrow over (p)} includes at least one of the at least two parameters and has the following form;

15. The device of claims 6, 7, 8 or 9, wherein the object is a first vehicle and the target object is a second vehicle.

16. The device of claims 6, 7, 8 or 9, wherein the at least two parameter values pertain to at least one of a relative acceleration of the target object, a relative radial acceleration of the target object, a relative velocity of the target object, the relative radial velocity of the target object, an offset between the object and the target object, an angle between vectors of the relative velocity of the target object and the relative radial velocity of the target object, corresponding to an angle between vectors of the relative acceleration of the target object and the relative radial acceleration of the target object.

17. The device of claim 6, wherein the analyzing arrangement estimates the at least two parameter values for the parameters of the vector {right arrow over (p)} based on the at least two measured values.

18. The device of claim 6, wherein the analyzing arrangement estimates the at least two parameter values for the parameters in the vector {right arrow over (p)} based on at least two points in time and at least one of at least two measured values for the target object distances and at least two measured values for at least two relative radial velocities by using an optimization method in which the analyzing arrangement determines a minimum of a norm Q({right arrow over (p)}) defined as follows:

19. The device of claim 6, wherein the analyzing arrangement estimates the at least two parameter values for the parameters in the vector {right arrow over (p)} based on at least two points in time and at least one of at least two measured values for the target object distances and at least two measured values for at least two relative radial velocities by using an optimization method in which the analyzing arrangement determines a minimum of a norm Q({right arrow over (p)}).

7. A device for outputting at least two parameter values pertaining to a relative kinematic behavior of an object and a target object, for which a conclusion is determinable based on the at least two parameter values as to whether the object and the target object will probably collide, the device comprising:

a sensor system arranged on the object to transmit and receive a plurality of signals to determine at least two measured values for at least one of a target object distance and a relative radial velocity of the target object; and

an analyzing arrangement to analyze the at least two measured values determined by the sensor system and to output the at least two parameter values based on a plurality of signals received by only one receiver assigned to the sensor system;

wherein the sensor system determines the at least two measured values for at least two target object distances at at least two different points in time and the analyzing arrangement analyzes the target object distance based on the following equation;

20. The device of claim 7, wherein the sensor system determines the at least two measured values for at least two target object distances and for at least two relative radial velocities at at least two different points in time, and the analyzing arrangement analyzes the relative radial velocity of the target object by using the following equation:

$v_r=f<br><br>\left(\stackrel{\to <br><br>}{p},t,r\right)=\frac{\left(v_0+\mathrm{at}\right)<br><br>(r_0<br><br>\cos <br><br>\left({\mathrm{\alpha <br><br>}}_0\right)+v_0<br><br>t+{\mathrm{at}}^2/2}{r},$

where r₀ is the target object distance in a first measurement, v₀ is a relative initial velocity of the target object in the first measurement, a is a relative acceleration of the target object, t is a time and α

₀ is an angle between vectors of a relative velocity of the target object and the relative radial velocity of the target object, corresponding to an, angle between vectors of the relative acceleration of the target object and a relative radial acceleration of the target object in the first measurement.

8. A device for outputting at least two parameter values pertaining to a relative kinematic behavior of an object and a target object, for which a conclusion is determinable based on the at least two parameter values as to whether the object and the target object will probably collide, the device comprising:

a sensor system arranged on the object to transmit and receive a plurality of signals to determine at least two measured values for at least one of a target object distance and a relative radial velocity of the target object; and

an analyzing arrangement to analyze the at least two measured values determined by the sensor system and to output the at least two parameter values based on a plurality of signals received by only one receiver assigned to the sensor system;

wherein the sensor system determines the at least two measured values for at least two relative radial velocities of the target object at at least two different points in time, and the analyzing arrangement analyzes the relative radial velocity of the target object by using the following equation;

$v_r=f<br><br>\left(\stackrel{\to <br><br>}{p},t\right)=\frac{\left(v_0+\mathrm{at}\right)<br><br>\left(r_0<br><br>\cos <br><br>\left({\mathrm{\alpha <br><br>}}_0\right)+v_0<br><br>t+{\mathrm{at}}^2/2\right)}{\sqrt{{\left(r_0<br><br>\cos <br><br>\left({\mathrm{\alpha <br><br>}}_0\right)+v_0<br><br>t+{\mathrm{at}}^2/2\right)}^2+{\left(r_0<br><br>\sin <br><br>\left({\mathrm{\alpha <br><br>}}_0\right)\right)}^2}},$

 

where r₀ is the target object distance in a first measurement, v₀ is a relative initial velocity of the target object in the first measurement, a is a relative acceleration of the target object, t is a time and α

₀ is an angle between vectors of a relative velocity of the target object and the relative radial velocity of the target object, corresponding to an angle between vectors of the relative acceleration of the target object and a relative radial acceleration of the target object in the first measurement.

9. A device for outputting at least two parameter values pertaining to a relative kinematic behavior of an object and a target object, for which a conclusion is determinable based on the at least two parameter values as to whether the object and the target object will probably collide, the device comprising:

a sensor system arranged on the object to transmit and receive a plurality of signals to determine at least two measured values for at least one of a target object distance and a relative radial velocity of the target object; and

analyzing arrangement to analyze the at least two measured values determined by the sensor system and to output the at least two parameter values based on a plurality of signals received by only one receiver assigned to the sensor system;

wherein the analyzing arrangement defines a norm Q({right arrow over (p)}) as follows;