System and method for testing crash avoidance technologies

• US 8,762,044 B2
• Filed: 10/24/2013
• Issued: 06/24/2014
• Est. Priority Date: 07/13/2011
• Status: Active Grant

• Current Assignee: Dynamics Research Corporation (Science Applications International Corporation)
• Original Assignee: Dynamics Research Corporation (Science Applications International Corporation)
• Inventors: Kelly, Joseph, Broen, Peter, Silberling, Jordan, Zellner, John
• Primary Examiner(s): To, Tuan C.
• Assistant Examiner(s): SMITH, ISAAC G
• Application Number:
  US14/062,287
• Publication Number:
  US 20140058589A1
• Time in Patent Office: 243 Days
• Field of Search: 701/206, 701/301, 73/120.1, 434/305
• US Class Current: 701/301
• CPC Class Codes: B60T 7/18 operated by wayside apparatus
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60T 8/34 having a fluid pressure regulator responsive to a speed condition
• CPC Class Codes: G06F 7/00 Methods or arrangements for processing data by operating upon the order or content of the data handled logic circuits H03K19/00
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection
• CPC Class Codes: G09B 19/14 Traffic procedures, e.g. traffic regulations

Abstract

A Guided Soft Target System is disclosed that includes a subject vehicle and a dynamic motion element (DME). The subject vehicle may be accelerated at an arbitrary rate to a speed corresponding to the speed in its own predetermined trajectory. Each of the DME vehicles computes its target speed as a ratio of the subject vehicle'"'"'s speed at each waypoint location, and modulates its speed control to achieve this target speed. To further compensate for timing differences along the target path, each DME computes its longitudinal error along the path relative to its target position, as dictated by the position of the subject vehicle within its own trajectory, and each DME'"'"'s target speed is modulated in order to minimize the longitudinal error along the predetermined trajectory.

Claims

1. A Guided Soft Target (GST) system comprising:

a subject vehicle (SV) with a SV position sensor;

a dynamic motion element (DME) with a DME position sensor wherein the DME comprises a body comprising an upper surface wherein the upper surface is adapted to support a soft-body having the size and shape of a vehicle or a portion of a vehicle, the body having at least one tapered side so as to allow the subject vehicle to drive up to and on the upper surface with minimal to no damage to the subject vehicle or the DME, the body further supported by a plurality of wheels;

a SV trajectory file representing the trajectory of the SV, comprising an array of SV waypoints and SV speeds;

a DME trajectory file representing the trajectory of the DME, comprising a second array of DME waypoints and DME speeds, each DME waypoint and DME speed corresponds to a SV waypoint and SV speed in the SV trajectory file;

a processor, adapted to perform the following steps;

(a) determine a location of the SV from the SV position sensor and the position of the DME from the DME position sensor;

(b) calculate the position of the SV along trajectory represented by the SV trajectory file and determine the SV waypoint for that position in the SV trajectory file;

(c) determine the corresponding DME waypoint from the DME trajectory file;

(d) calculate the longitudinal error of the DME; and

(e) calculate a speed compensation based on the longitudinal error.

2. The GST system of claim 1, wherein the subject vehicle comprises a SV speed sensor and the step performed by the processor further comprise:

(f) determine a speed ratio from the SV trajectory file and DME trajectory file for determined DME way point from step (c);

(g) determine the speed of the SV from the SV speed sensor, and

(h) calculate a new DME speed.

3. The GST system of claim 2, wherein the DME comprises a DME speed sensor and the step performed by the processor further comprise:

(i) determine the speed of the DME from the DME speed sensor, and

(j) calculate velocity control instructions.

4. The GST system of claim 1, wherein:

the DME further comprises a speed controller connected to a motor that propels a wheel;

the speed controller receives a control instruction from the processor, wherein the instruction is based on the calculation of step (e).

5. The GST system of claim 4, wherein the controller is connected to a brake that brakes the wheel.

6. The GST system of claim 4, wherein the instruction comprises an acceleration of the motor.

7. The GST system of claim 5, wherein the instruction comprises an actuation of the brake.

8. The GST system of claim 1, wherein the SV trajectory file and the DME trajectory file comprise a single file.

9. The GST system of claim 4, wherein the control instruction is sent to the DME via a wireless signal.

10. A method of controlling the speed of a dynamic motion element (DME) used in testing a crash avoidance technology of a subject vehicle (SV), the DME connected to a processor, wherein the processor is connected to a memory, the method comprising:

(a) providing a DME comprising a body comprising an upper surface wherein the upper surface is adapted to support a soft-body having the size and shape of a vehicle or a portion of a vehicle, the body having at least one tapered side so as to allow the subject vehicle to drive up to and on the upper surface with minimal to no damage to the subject vehicle or the DME, the body further supported by a plurality of wheels

(b) storing a SV trajectory file in the memory representing the trajectory of the SV, comprising an array of SV waypoints and SV speeds;

(c) storing a DME trajectory file in the memory representing the trajectory of the DME, comprising a second array of DME waypoints and DME speeds, each DME waypoint and DME speed corresponds to a SV waypoint and SV speed in the SV trajectory file;

(d) determining, by the processor, an actual location of the SV and the actual position of the DME;

(d) calculating, by the processor, the position of the SV along trajectory represented by the SV trajectory file and determine the SV waypoint for that position in the SV trajectory file;

(f) determining, by the processor, the corresponding DME waypoint from the DME trajectory file;

(g) calculating, by the processor, the longitudinal error of the DME; and

(h) calculating, by the processor, a speed compensation based on the longitudinal error.

11. The method of claim 10, further comprising:

(i) determining, by the processor, a speed ratio from the SV trajectory file and DME trajectory file for determined DME way point from step (d);

(j) determining, by the processor, the speed of the SV from the SV speed sensor, and

(k) calculating, by the processor, a new DME speed.

12. The method of claim 11, further comprising:

(l) determining, by the processor, the speed of the DME from the DME speed sensor; and

(m) calculating, by the processor, velocity control instructions.

13. The method of claim 10, further comprising sending, by the processor, a controller instruction to the DME.

14. The method of claim 13, wherein the controller instruction is sent wirelessly.

15. The method of claim 13, further comprising:

(n) actuating, by the processor, a motor based on the controller instruction.

16. The method of claim 13, further comprising:

(n) actuating, by the processor a brake based on the controller instruction.

17. A Dynamic Motion Element (DME) for use in testing crash avoidance technologies in a subject vehicle, the DME comprising:

a body comprising an upper surface wherein the upper surface is adapted to support a soft-body having the size and shape of a vehicle or portion of a vehicle, the body having at least one tapered side so as to allow the subject vehicle to drive up to and on the upper surface with minimal to no damage to the subject vehicle or the DME, the body supported by a plurality of wheels, including at least one motorized wheel coupled to an electronic controller, and at least one steerable wheel coupled with the electronic controller; and

wherein the electronic controller is adapted to track the trajectory of the subject vehicle, and steers the at least one steerable wheel to place the DME on a collision course with the subject vehicle.

18. The DME of claim 17, wherein the electronic controller adjusts the speed of the at least one motorized wheel to place the DME on a collision course with the subject vehicle.

19. The DME of claim 17, wherein the electronic controller tracks the trajectory of the subject vehicle based on a pre-programed subject vehicle trajectory file representing the trajectory of the subject vehicle, comprising an array of subject vehicle waypoints and subject vehicle speeds.

20. The DME of claim 17, further comprising a braking system coupled to the electronic controller and capable of applying braking force to one or more of the plurality of wheels, wherein the electronic controller adjusts the braking force to place the DME on a collision course with the subject vehicle.