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Collision detection system and method of estimating target crossing location

  • US 7,777,618 B2
  • Filed: 02/25/2008
  • Issued: 08/17/2010
  • Est. Priority Date: 02/18/2004
  • Status: Expired due to Term
First Claim
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1. A method of estimating a crossing location of an object, said method comprising the steps of:

  • sensing the presence of an object in a field of view;

    tracking the object with first and second sensors;

    measuring range to the object with the first sensor;

    measuring range to the object with the second sensor, wherein the first and second sensors are separate from each other;

    determining a first range rate of the object with the first sensor, and determining a second range rate of the object with the second sensor;

    computing a mathematical square of range and a mathematical square of the product of range and range rate for each of the plurality of measurements taken with the first sensor and generating a first curve as a function thereof;

    computing a mathematical square of range and a mathematical square of the product of range and range rate for each of the plurality of measurements taken by the second sensor and generating a second curve as a function thereof; and

    estimating the crossing location of the object as a function of the first and second curves.

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