Collision detection system and method of estimating target crossing location
First Claim
1. A collision detection system for a vehicle incorporating a target crossing location estimator comprising:
- a first sensor configured to sense an object in a field of view and provide signals of a first range, defined as the distance between the object and the first sensor, and a first range rate thereof;
a second sensor configured to sense the object in the field of view and provide signals of a second range, defined by the distance between the object and the second sensor and a second range rate thereof, The sensors defining a baseline and the field of view being a common field of view for the first and second sensors; and
a processor configured to;
receive a plurality of paired range and range rate signals for the sensed object from the first sensor and a plurality of paired range and range rate signals for the sensed object from the second sensor over a time period;
for each of the received paired range and range rate signals received over the time period, compute a W-plane point representing a square of the range and a square of the product of range and range rate, wherein the W-plane is a two-dimensional Cartesian coordinate system with a first axis representing the square of range and a perpendicular second axis representing the square of the product of range and range rate;
generate a first best-fit W-plane curve from the w-plane points derived from the first sensor and a second best-fit W-plane curve from the W-plane points derived from the second sensor;
calculate a numerical difference between values of the first and second best-fit W-plane curves at a selected value of the square of the product of range and range rate;
derive an estimated target crossing point location along the baseline as a distance from a predetermined point on the baseline, the distance being derived from the numerical difference and a separation distance of the first and second sensors; and
generate a signal based on the estimated crossing point location.
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Abstract
A collision detection system and method of estimating a crossing location are provided. The system includes a first sensor for sensing an object in a field of view and sensing a first range defined as the distance between the object and the first sensor. The system also includes a second sensor for sensing the object in the field of view and sensing a second range defined by the distance between the object and the second sensor. The system further includes a controller for processing the first and second range measurements and estimating a crossing location of the object as a function of the first and second range measurements. The crossing location is estimated using range and range rate in a W-plane in one embodiment and using a time domain approach in another embodiment.
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Citations
9 Claims
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1. A collision detection system for a vehicle incorporating a target crossing location estimator comprising:
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a first sensor configured to sense an object in a field of view and provide signals of a first range, defined as the distance between the object and the first sensor, and a first range rate thereof; a second sensor configured to sense the object in the field of view and provide signals of a second range, defined by the distance between the object and the second sensor and a second range rate thereof, The sensors defining a baseline and the field of view being a common field of view for the first and second sensors; and a processor configured to; receive a plurality of paired range and range rate signals for the sensed object from the first sensor and a plurality of paired range and range rate signals for the sensed object from the second sensor over a time period; for each of the received paired range and range rate signals received over the time period, compute a W-plane point representing a square of the range and a square of the product of range and range rate, wherein the W-plane is a two-dimensional Cartesian coordinate system with a first axis representing the square of range and a perpendicular second axis representing the square of the product of range and range rate; generate a first best-fit W-plane curve from the w-plane points derived from the first sensor and a second best-fit W-plane curve from the W-plane points derived from the second sensor; calculate a numerical difference between values of the first and second best-fit W-plane curves at a selected value of the square of the product of range and range rate; derive an estimated target crossing point location along the baseline as a distance from a predetermined point on the baseline, the distance being derived from the numerical difference and a separation distance of the first and second sensors; and generate a signal based on the estimated crossing point location. - View Dependent Claims (2, 3, 4, 5)
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6. A collision detection system for a vehicle incorporating a target crossing location estimator comprising:
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a first sensor configured to sense an object in a field of view and provide signals of a first range, defined as the distance between the object and the first sensor, and a first range rate thereof; a second sensor configured to sense the object in the field of view and provide signals of a second range, defined by the distance between the object and the second sensor and a second range rate thereof, the sensors defining a baseline and the field of view being a common field of view for the first and second sensors; and a processor configured to; receive a range signal for the sensed object from the first sensor and a range signal for the sensed object from the second sensor; filter each range signal with a range tracking filter; calculate a numerical difference between squares of the filtered values of the range signals from the first and second sensors; and derive an estimated target crossing point location along the baseline as a distance from a predetermined point on the baseline, the distance being derived from the numerical difference and a separation distance of the first and second sensors; and generate a signal based on the estimated crossing point location. - View Dependent Claims (7, 8, 9)
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Specification