Automatic braking system
First Claim
1. A braking-system suitable for use on an automated vehicle, said system comprising:
- a ranging-sensor used to detect an object proximate to a host-vehicle when the object resides in a field-of-view of the ranging-sensor, wherein the field-of-view defines an edge of the field-of-view and a boundary of a conflict-zone, whereby the object in the conflict-zone and the host-vehicle will collide as the host-vehicle moves toward the object, said boundary extending from a left-side and a right-side of the host-vehicle and terminating at the edge of the field-of-view, said boundary corresponding to a portion of the edge, said edge defining a line where a ranging-sensor-signal impinges on the ground such that the object in the conflict-zone is not detected by the ranging-sensor;
a braking-actuator used to control movement of the host-vehicle; and
a controller in communication with the ranging-sensor and the braking-actuator, wherein the controller determines a height of the object, determines a distance to the object, determines a range-rate of the object when the object is in the field-of-view, and activates the braking-actuator when an estimated-distance to the object is less than a distance-threshold, the height of the object is greater than a height-threshold, and the object has crossed the boundary and thereby enters the conflict-zone;
wherein while the host-vehicle is moving the controller determines the estimated-distance to the object based on both a last-known-distance and the range-rate determined when the object crossed the boundary into the conflict-zone and is thereby undetected by the ranging-sensor.
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Accused Products
Abstract
A braking-system suitable for use on an automated vehicle includes a ranging-sensor, a braking-actuator and a controller in communication with the ranging-sensor and the braking-actuator. The ranging-sensor is used to detect an object proximate to a host-vehicle when the object resides in a field-of-view of the ranging-sensor. The field-of-view defines a bottom-edge of the field-of-view and a boundary of a conflict-zone, where the boundary corresponds to a portion of the bottom-edge. The a braking-actuator used to control movement of the host-vehicle. The controller determines a height of the object, determines a distance to the object, determines a range-rate of the object when the object is in the field-of-view, and activates the braking-actuator when an estimated-distance to the object is less than a distance-threshold, the height of the object is greater than a height-threshold, and the object has crossed the boundary and thereby enters the conflict-zone.
19 Citations
4 Claims
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1. A braking-system suitable for use on an automated vehicle, said system comprising:
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a ranging-sensor used to detect an object proximate to a host-vehicle when the object resides in a field-of-view of the ranging-sensor, wherein the field-of-view defines an edge of the field-of-view and a boundary of a conflict-zone, whereby the object in the conflict-zone and the host-vehicle will collide as the host-vehicle moves toward the object, said boundary extending from a left-side and a right-side of the host-vehicle and terminating at the edge of the field-of-view, said boundary corresponding to a portion of the edge, said edge defining a line where a ranging-sensor-signal impinges on the ground such that the object in the conflict-zone is not detected by the ranging-sensor; a braking-actuator used to control movement of the host-vehicle; and a controller in communication with the ranging-sensor and the braking-actuator, wherein the controller determines a height of the object, determines a distance to the object, determines a range-rate of the object when the object is in the field-of-view, and activates the braking-actuator when an estimated-distance to the object is less than a distance-threshold, the height of the object is greater than a height-threshold, and the object has crossed the boundary and thereby enters the conflict-zone; wherein while the host-vehicle is moving the controller determines the estimated-distance to the object based on both a last-known-distance and the range-rate determined when the object crossed the boundary into the conflict-zone and is thereby undetected by the ranging-sensor. - View Dependent Claims (2, 3, 4)
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Specification