Collision detection system and method of estimating target crossing location
First Claim
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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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
5 Claims
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1. A method of estimating a crossing location of an object, said method comprising the steps of:
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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. - View Dependent Claims (2, 3, 4, 5)
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Specification