Lane change detection
First Claim
1. A vehicle safety system comprising a detection system, an emergency control unit and at least one safety device, where the detection system is arranged to detect a target vehicle positioned longitudinally and laterally displaced relative to the detection system, and to define a target vehicle rectangle that at least partly encloses the target vehicle, where the target vehicle rectangle has two sides that are parallel to an initial forward running direction of the target vehicle and two sides that are perpendicular to the initial forward running direction of the target vehicle, where the target vehicle rectangle further forms a first boundary and a second boundary, the first and the second boundaries defining a largest extension of the target vehicle rectangle as viewed from the detection system in an azimuth plane, where the first boundary is positioned along a second bearing having a second azimuth angle with reference to a first reference line, wherein the target vehicle rectangle forms a first corner which is defined by a point of the target vehicle rectangle that is closest to the detection system, the first corner being positioned along a first bearing having a first azimuth angle with reference to the first reference line, where the detection system is arranged to calculate a yaw movement of the target vehicle relative to a second reference line representing a change in direction of the target vehicle with respect to the initial forward running direction using the first azimuth angle and the second azimuth angle.
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Accused Products
Abstract
The present invention relates to a vehicle safety system and method including a detection system, an emergency control unit and one or more safety devices. The detection system detects a target vehicle positioned longitudinally and laterally displaced relative the detection system, and defines a target vehicle rectangle that at least partly encloses the target vehicle, and constitutes an approximation of the target vehicle. The target vehicle rectangle forms a boundary (k) positioned along a second bearing having a second azimuth angle (δ′1+δ′2) with reference to a first reference line. The target vehicle rectangle forms a first corner (j) closest to the detection system and positioned along a first bearing having a first azimuth angle (δ′1) with reference to the first reference line. The detection system calculates a yaw movement (θA) of the target vehicle using the first and second azimuth angles (δ′1, δ′1+δ′2).
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Citations
15 Claims
- 1. A vehicle safety system comprising a detection system, an emergency control unit and at least one safety device, where the detection system is arranged to detect a target vehicle positioned longitudinally and laterally displaced relative to the detection system, and to define a target vehicle rectangle that at least partly encloses the target vehicle, where the target vehicle rectangle has two sides that are parallel to an initial forward running direction of the target vehicle and two sides that are perpendicular to the initial forward running direction of the target vehicle, where the target vehicle rectangle further forms a first boundary and a second boundary, the first and the second boundaries defining a largest extension of the target vehicle rectangle as viewed from the detection system in an azimuth plane, where the first boundary is positioned along a second bearing having a second azimuth angle with reference to a first reference line, wherein the target vehicle rectangle forms a first corner which is defined by a point of the target vehicle rectangle that is closest to the detection system, the first corner being positioned along a first bearing having a first azimuth angle with reference to the first reference line, where the detection system is arranged to calculate a yaw movement of the target vehicle relative to a second reference line representing a change in direction of the target vehicle with respect to the initial forward running direction using the first azimuth angle and the second azimuth angle.
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10. A method for a vehicle safety system, where the method comprises the steps of:
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using a detection system to detect a target vehicle positioned longitudinally and laterally displaced relative to the detection system; defining a target vehicle rectangle that at least partly encloses the target vehicle, has two sides parallel to an initial forward running direction of the target vehicle and two sides that are perpendicular to the initial forward running direction of the target vehicle; defining a first boundary and a second boundary of the target vehicle rectangle, the first and the second boundaries defining a largest extension of the target vehicle rectangle as viewed from the detection system in the azimuth plane, where the first boundary is positioned along a second bearing having a second azimuth angle with reference to a first reference line; defining a first corner which is defined by a point of the target vehicle rectangle that is closest to the detection system, the first corner being positioned along a first bearing having a first azimuth angle with reference to the first reference line; and calculating a yaw movement of the target vehicle relative to a second reference line representing a change with respect to the initial forward running direction using the first azimuth angle and the second azimuth angle. - View Dependent Claims (11, 12, 13, 14, 15)
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Specification