V2X object-location verification system for automated vehicles

• US 9,671,785 B1
• Filed: 03/29/2016
• Issued: 06/06/2017
• Est. Priority Date: 03/29/2016
• Status: Active Grant

• Current Assignee: Aptiv Technologies Limited (Aptiv PLC)
• Original Assignee: Delphi Technologies, Inc. (BorgWarner Incorporated)
• Inventors: Bhatia, Gaurav, Lee, Jong Ho, Kim, Junsung
• Primary Examiner(s): Marc, McDieunel
• Assistant Examiner(s): Stroud, James E
• Application Number:
  US15/083,538
• Time in Patent Office: 434 Days
• Field of Search: 701 23
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/4029 Pedestrians
• CPC Class Codes: B60W 2556/20 Data confidence level
• CPC Class Codes: B60W 2556/65 Data transmitted between vehicles
• CPC Class Codes: B60W 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: G05D 1/0248 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/028 using a RF signal
• CPC Class Codes: H04W 4/02 Services making use of location information
• CPC Class Codes: H04W 4/029 Location-based management or tracking services
• CPC Class Codes: H04W 84/005 Moving wireless networks

Abstract

An object-detection system suitable for use in an automated vehicle includes a transceiver, and object-detector, and a controller. The transceiver is suitable to install on a host-vehicle. The transceiver is used to receive an indicated-location of an object proximate to the host-vehicle. The object-detector is suitable to install on the host-vehicle. The object-detector is used to detect a relative-location of the object relative to the host-vehicle. The controller is in communication with the transceiver and the object-detector. The controller determines a confirmed-location of the object relative to the host-vehicle based on the indicated-location and the relative-location. Determining the confirmed-location of the object allows for selecting from a variety of optimized algorithms to better track subsequent expected motion of the object, and reducing the risk of unnecessary or erratic action by the host-vehicle caused by hacking of the wireless-transmission or deliberate malicious content in the wireless-transmission.

Claims

1. An object-detection system for an automated vehicle, said system comprising:

a transceiver that receives an indicated-location of an object proximate to a host-vehicle, wherein the indicated-location is transmitted by the object;

an object-detector that detects a relative-location of the object relative to the host-vehicle; and

a controller in communication with the transceiver and the object-detector, wherein the controller determines a confirmed-location of the object relative to the host-vehicle based on the indicated-location and the relative-location when the indicated-location corresponds to the relative-location.

2. The system in accordance with claim 1, wherein the system includes a location-device used to determine a present-location of the host-vehicle, and the controller further determines the confirmed-location based on the present-location.

3. The system in accordance with claim 2, wherein the indicated-location of the object and the present-location of the host-vehicle are both specified with respect to a reference-coordinate.

4. The system in accordance with claim 1, wherein the object is one of an other-vehicle and a pedestrian proximate to the host-vehicle.

5. The system in accordance with claim 1, wherein the controller maintains the confirmed-location for an occlusion-time when a field-of-view between the object-detector and the object is occluded after the confirmed-location is established.

6. The system in accordance with claim 1, wherein the controller maintains the confirmed-location for an interruption-time when reception of the indicated-location by the transceiver is intermittent after the confirmed-location is established.