Apparatus and method for monitoring a target object

• US 9,947,225 B2
• Filed: 02/20/2012
• Issued: 04/17/2018
• Est. Priority Date: 02/18/2011
• Status: Active Grant

• Current Assignee: Jaguar Land Rover Limited (TATA Motors Limited)
• Original Assignee: Jaguar Land Rover Limited (TATA Motors Limited)
• Inventors: Cund, Mark, Widdowson, Paul
• Primary Examiner(s): Fan, Hongmin
• Application Number:
  US13/985,107
• Publication Number:
  US 20140125473A1
• Time in Patent Office: 2,248 Days
• 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: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 7/415 Identification of targets based on measurements of movement associated with the target
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

Embodiments of the present invention provide monitoring apparatus for monitoring a target object external to a vehicle. The apparatus is operable to determine whether the target object is a valid target object in dependence on a value of a maximum range R_max from the vehicle at which the target object has been detected. The apparatus may be operable to pre-arm a braking system and optionally apply a braking system responsive to a determination that a risk of collision exists.

Claims

1. An apparatus for monitoring a target object external to a vehicle, the apparatus comprising a transmitter and a receiver, the apparatus being operable to determine whether the target object is an artefact or a valid target object that is locked onto for further monitoring in dependence on whether a value of a maximum range R_max from the vehicle at which the target object has been detected exceeds a first prescribed value.

2. An apparatus as claimed in claim 1, operable to determine whether the target object is a valid target object in further dependence on a determination whether a rate of change of a range of the target object from the vehicle is less than a speed at which the vehicle is moving.

3. An apparatus as claimed in claim 1, arranged to determine whether the target object is a valid target object in further dependence on a length of time t for which the target object has remained a target object.

4. An apparatus as claimed in claim 3, wherein t is the length of time for which the target object has continuously remained a target object.

5. An apparatus as claimed in claim 3, operable to set a first valid target object flag only when t exceeds a first prescribed time value.

6. An apparatus as claimed in claim 1, operable to set a first valid target object flag when R_max exceeds the first prescribed value.

7. An apparatus as claimed in claim 6, operable to set a second valid target object flag when R_max exceeds a second prescribed value.

8. An apparatus as claimed in claim 7, wherein the second prescribed value of R_max is greater than the first prescribed value.

9. An apparatus as claimed in claim 5, operable to set a second valid target object flag only when t exceeds a second prescribed time value.

10. An apparatus as claimed in claim 9, wherein the second prescribed time value is greater than the first prescribed time value.

11. An apparatus as claimed in claim 1, comprising range determination means operable to determine a range of the target object from the vehicle and a rate of change of the range.

12. An apparatus as claimed in claim 1, wherein the transmitter comprises a radar transmitter and the receiver comprises a radar receiver, the apparatus being arranged to determine the range of the target object from the vehicle using a radar signal transmitted from the transmitter and received at the receiver following reflection from the target object.

13. An apparatus as claimed in claim 1, wherein the transmitter comprises an ultrasonic transmitter and the receiver comprises an ultrasonic receiver, the apparatus being arranged to determine the range of the target object from the vehicle using an ultrasonic signal transmitted from the transmitter and received at the receiver following reflection from the target object.

14. A vehicle comprising an apparatus as claimed in claim 1.

15. A vehicle comprising the apparatus of claim 6, wherein if the first valid target object flag is set the vehicle is operable automatically to perform a first set of one or more actions responsive to a determination that a risk of collision exists.

16. A vehicle as claimed in claim 15, wherein the first set of one or more actions includes the action of pre-arming a brake of the vehicle.

17. A vehicle as claimed in claim 15, wherein if a second valid target object flag is set the vehicle is operable automatically to perform a second set of one or more actions responsive to a determination that a risk of collision exists.

18. A vehicle as claimed in claim 17, wherein the second set of one or more actions include the action of applying the brake of the vehicle thereby to slow the vehicle.

19. A method for a vehicle, the method comprising determining whether a detected target object is an artefact or a valid target object that is locked on to for further monitoring in dependence on whether the maximum range R_max from the vehicle at which the target object has been detected exceeds a first prescribed value.

20. A method as claimed in claim 19, comprising determining whether a rate of change of a range of the target object from the vehicle is less than a speed at which the vehicle is moving.