Object detection apparatus and method

• US 7,653,487 B2
• Filed: 10/06/2006
• Issued: 01/26/2010
• Est. Priority Date: 10/06/2006
• Status: Expired due to Fees

• Current Assignee: Toyota Motor Corporation
• Original Assignee: Toyota Motor Engineering & Manufacturing North America Incorporated (Toyota Motor Corporation)
• Inventors: Okuda, Masato
• Primary Examiner(s): Bolda; Eric
• Assistant Examiner(s): Diacou; Ari M
• Application Number:
  US11/539,356
• Publication Number:
  US 20080086268A1
• Time in Patent Office: 1,208 Days
• Field of Search: 367118-127, 367/129, 701/27, 701300-302, 340/436, 340/904, 340/932.2
• US Class Current: 701/301
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 2013/9314 Parking operations
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9324 Alternative operation using ultrasonic waves
• CPC Class Codes: G01S 2015/934 for measuring the depth, i.e. width, not length, of the parking space
• CPC Class Codes: G01S 2015/935 for measuring the contour, e.g. a trajectory of measurement points, representing the boundary of the parking space

Abstract

A method and apparatus for determining the position of an object relative to a moving vehicle. While the vehicle is moving in a first direction, successive sensor pulses are transmitted from a vehicle sensor and toward the object. The echo or reflection from the sensor pulse is then received while a processor determines the transit time between the transmission of each pulse and the receipt of its echo. An angle factor is then calculated which represents the difference between the elapsed time of two sequential sensor pulses and the distance traveled by the vehicle between those two pulses. Whenever the absolute value of the angle factor exceeds a preset threshold, an angle is selected from a predefined lookup table contained in memory. Conversely, when the absolute value of the factor is less than the preset threshold, the angle is calculated as a function of the factor. The distance is then calculated between the sensor and the object as a function of the angle and the transit time for the sensor pulse and the appropriate signal is provided to the occupant of the vehicle.

Claims

1. A method for determining the position of an object relative to a moving vehicle comprising the steps of:

while the vehicle is moving in a first direction, transmitting successive sensor pulses from a vehicle sensor toward the object,

receiving an echo of each sensor pulse,

determining a transit time between the transmission of each pulse and the receipt of its echo by the sensor,

determining an angle factor as a function of the difference between the transit times of two sensor pulses and the distance traveled by the vehicle between said two sensor pulses,

selecting an angle from a predefined table whenever the absolute value of the angle factor exceeds a preset threshold,

calculating the angle as a function of said factor whenever the absolute value of the factor is less than the preset threshold,

calculating the distance between the sensor and the object as a function of said angle and the transit time for the sensor pulse,

generating a signal as a function of said distance calculating step,

wherein the angle factor equals the ratio of the difference of the perpendicular distances between the sensor and the object over successive pulses divided by the distance traveled by the vehicle over time between said successive pulses.

2. The invention as defined in claim 1 wherein said sensor generates said sensor pulses in a direction substantially normal to said first direction.

3. The invention as defined in claim 1 wherein said sensor is an ultrasonic sensor.

4. The invention as defined in claim 1 wherein said angle calculating step comprises calculating the arcsine of said factor.

5. The invention as defined in claim 1 and further comprising the step of providing a signal to the vehicle representative of the calculated distance.

6. The invention as defined in claim 1 and further comprising the step of calculating a radius of curvature of the object as a function of the calculated distance of at least two sequential sensor pulses.

7. The invention as defined in claim 1 wherein said step of selecting the angle from the predefined table comprises the step of interpolating between two sequential angles in said table.

8. The invention as defined in claim 1 and further comprising the step of calculating an error term as a function of the difference between the angles of two sequential sensor pulses, and adding the error term to the angle prior to said distance calculating step.

9. A method for determining the position of an object relative to a moving vehicle comprising the steps of:

while the vehicle is moving in a first direction, transmitting successive sensor pulses from a vehicle sensor in a second direction substantially normal to said first direction toward the object,

receiving an echo of each sensor pulse along, said echo traveling in a third direction,

determining a transit time between the transmission of each pulse and the receipt of its echo by the sensor,

determining an angle factor as a function of the difference between the transit times of two sensor pulses and the distance traveled by the vehicle between said two sensor pulses,

selecting an angle corresponding to the angle between said second and third directions from a predefined table whenever the absolute value of the angle factor exceeds a preset threshold,

calculating said angle as the arcsine of said angle factor whenever the absolute value of the factor is less than the preset threshold,

calculating the distance between the sensor and the object as a function of said angle and the transit time for the sensor pulse,

generating a signal as a function of said distance calculating step,

wherein the angle factor equals the ratio of the difference of the perpendicular distances between the sensor and the object over successive pulses divided by the distance traveled by the vehicle over time between said successive pulses.

10. The invention as defined in claim 9 wherein said sensor generates said sensor pulses in a direction substantially normal to said first direction.

11. The invention as defined in claim 9 wherein said sensor is an ultrasonic sensor.

12. The invention as defined in claim 9 wherein said angle calculating step comprises calculating the arcsine of said factor.

13. The invention as defined in claim 9 and further comprising the step of providing a signal to the vehicle representative of the calculated distance.

14. The invention as defined in claim 9 and further comprising the step of calculating a radius of curvature of the object as a function of the calculated distance of at least two sequential sensor pulses.

15. The invention as defined in claim 9 wherein said step of selecting the angle from the predefined table comprises the step of interpolating between two sequential angles in said table.

16. The invention as defined in claim 9 and further comprising the step of calculating an error term as a function of the difference between the angles of two sequential sensor pulses, and adding the error term to the angle prior to said distance calculating step.

17. Apparatus for determining the position of an object relative to a moving vehicle comprising:

means for transmitting successive sensor pulses from a vehicle sensor toward the object while the vehicle is moving in a first direction,

means for receiving an echo of each sensor pulse,

means for determining a transit time between the transmission of each pulse and the receipt of its echo by the sensor,

means for determining an angle factor as a function of the difference between the transit times of two sensor pulses and the distance traveled by the vehicle between said two sensor pulses,

means for selecting an angle from a predefined table whenever the absolute value of the angle factor exceeds a preset threshold,

means for calculating the angle as a function of said angle factor whenever the absolute value of the angle factor is less than the preset threshold,

means for calculating the distance between the sensor and the object as a function of said angle and the elapsed time for the sensor pulse,

means for generating a signal as a function of the calculated distance between said sensor and said object,

wherein the angle factor equals the ratio of the difference of the perpendicular distances between the sensor and the object over successive pulses divided by the distance traveled by the vehicle over time between said successive pulses.

18. The invention as defined in claim 17 wherein said sensor generates said sensor pulses in a direction substantially normal to said first direction.

19. The invention as defined in claim 17 wherein said sensor is an ultrasonic sensor.

20. The invention as defined in claim 17 wherein said means for calculating said angle comprises means for calculating the arcsine of said factor.

21. The invention as defined in claim 17 and further comprising means for providing a signal to the vehicle representative of the calculated distance.

22. The invention as defined in claim 17 and further comprising means for calculating a radius of curvature of the object as a function of the calculated distance of at least two sequential sensor pulses.

23. The invention as defined in claim 17 wherein said means for selecting the angle from the predefined table comprises means for interpolating between two sequential angles in said table.

24. The invention as defined in claim 17 and further comprising means for calculating an error term as a function of the difference between the angles of two sequential sensor pulses, and means for adding the error term to the angle prior to calculating said distance.