Method and device for estimating movement parameters of targets

• US 20030163280A1
• Filed: 01/24/2003
• Published: 08/28/2003
• Est. Priority Date: 01/08/2001
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Hoetzel, Juergen, Brosche, Thomas, Steinlechner, Siegbert, Schlick, Michael
• Granted Patent: US 6,785,631 B2
• Time in Patent Office: Days
• US Class Current: 702/141
• CPC Class Codes: G08G 1/161 Decentralised systems, e.g. inter-vehicle communication

Abstract

A method of providing parameter values which pertain to the relative kinematic behavior of an object (10), in particular a first vehicle (10), and a target object (12), in particular a second vehicle (12), a conclusion being able to be drawn on the basis of the parameter values as to whether the object (10) and the target object (12) will probably collide, using the steps:

a) providing a sensor system (11) on the object (10), the sensor system (11) being provided for transmitting and receiving signals to determine measured values r_i, v_r,i for target object distance r and/or for relative radial velocity v_r between the object (10) and the target object (12),

b) determining measured values r_i, v_r,i and

c) analyzing measured values r_i, v_r,i thus determined and providing the parameter values.

Step c) is implementable on the basis of signals received by a receiver.

A device for outputting parameter values is also described.

Claims

1. A method of providing parameter values which pertain to the relative kinematic behavior of an object (10), in particular a first vehicle (10), and a target object (12), in particular a second vehicle (12), a conclusion being able to be drawn on the basis of the parameter values as to whether the object (10) and the target object (12) will probably collide, having the steps:

a) providing a sensor system (11) on the object (10), the sensor system (11) being provided for transmitting and receiving signals to determine measured values r_i, v_r,i for target object distance r and/or for relative radial velocity v_r of the target object (12),

b) determining measured values r_i, v_r,i and

c) analyzing measured values r_i, v_r,i thus determined and providing the parameter values,

wherein step c) is implementable on the basis of signals received by a receiver.

2. The method according to claim 1, wherein the parameter values pertain to at least one or more of the following parameters:

relative acceleration a of the target object (12), relative radial acceleration a_r of the target object (12), relative velocity v of the target object (12), relative radial velocity v_r of the target object (12), offset Δ

y between the object (10) and the target object (12), angle α

between the vectors of relative velocity v of the target object (12) and relative radial velocity v_r of the target object (12) i.e., between the vectors of relative acceleration a of the target object (12) and relative radial acceleration a_r of the target object (12).

3. The method according to claim 1 or 2, wherein a vector {right arrow over (p)} is provided containing at least some of the parameters being sought, this vector {right arrow over (p)} having the form

{right arrow over (p)}=[a, v₀, α

₀

where a denotes the relative acceleration of the target object (12), v₀ denotes the relative initial velocity of the target object (12) in the first measurement, and α

₀ denotes the angle between the vectors of relative velocity v of the target object (12) and relative radial velocity v_r of the target object (12), i.e., the angle between the vectors of relative acceleration a of the target object (12) and relative radial acceleration a_r of the target object (12) in the first measurement.

4. The method according to one of the preceding claims, wherein in step b) target object distances r_i are measured at different points in time t_i and target object distance r is described by the equation:

r=f({right arrow over (p)},t)={square root}{square root over ((r₀ cos(α

₀)+v₀t+at²/2)²+(r₀ sin(α

₀))²)}

where r₀ denotes the target object distance in the first measurement, v₀ denotes the relative initial velocity of the target object (12) in the first measurement, a denotes the relative acceleration of the target object (12), t is the time and α

₀ is the angle between the vectors of relative velocity v of the target object (12) and relative radial velocity v_r of the target object (12), i.e., the angle between the vectors of relative acceleration a of the target object (12) and relative radial acceleration a_r of the target object (12) in the first measurement.

5. The method according to one of the preceding claims, wherein in step b) relative radial velocities v_r,i of the target object (12) are measured at different points in time time t_i and relative radial velocity v_r of the target object (12) is described by the equation:

6. The method according to one of the preceding claims, wherein in step b) target object distances r_i and relative radial velocities v_r,i are measured at different points in time t_i and relative radial velocity v_r of the target object (12) is described by the equation:

7. The method according to one of the preceding claims, wherein for estimation of the parameter values, a norm Q({right arrow over (p)}) is defined as follows:

Q({right arrow over (p)})=Q₁({right arrow over (p)})=∥

r_i^k−

f^k({right arrow over (p)},t_i)∥

, where k=1 or k=2, or Q({right arrow over (p)})=Q₂({right arrow over (p)})=∥

v_i^k−

f^k({right arrow over (p)},t_i)∥

, where k=1 or k=2, or Q({right arrow over (p)})=Q₃({right arrow over (p)})=∥

v_i^k−

f^k({right arrow over (p)},t_i,r_i)∥

, where k=1 or k=2.

8. The method according to one of the preceding claims, wherein the parameter values for the parameters contained in vector {right arrow over (p)} are estimated on the basis of the measured values.

9. The method according to one of the preceding claims, wherein the parameter values for the parameters contained in vector {right arrow over (p)} are estimated on the basis of the points in time t_i and measured values r_i for the target object distances and/or measured values v_i for the relative radial velocities by using an optimization method by determining the minimum of the norm Q({right arrow over (p)}).

10. A device for outputting parameter values which pertain to the relative kinematic behavior of an object (10), in particular of a first vehicle (10), and a target object (12), in particular a second vehicle (12), a conclusion optionally being able to be drawn on the basis of the parameter values as to whether the object (10) and the target object (12) will probably collide, having:

a sensor system (11) situated on the object (10), the sensor system (11) being provided for transmitting and receiving signals in order to determine measured values r_i, v_r,i for target object distance r and/or for relative radial velocity v_r of the target object (12), and

means for analyzing the measured values r_i, v_r,i determined by the sensor system and for outputting the parameter values,

wherein the means perform the analysis on the basis of signals received by only one of the receivers assigned to the sensor system (11).

11. The device according to claim 10, wherein the parameter values pertain to at least one or more of the following parameters:

relative acceleration a of the target object (12), relative radial acceleration a_r of the target object (12), relative velocity v of the target object (12), relative radial velocity v_r of the target object (12), offset Δ

y between the object (10) and the target object (12), angle α

₀ between the vectors of relative velocity v of the target object (12) and relative radial velocity v_r of the target object (12), i.e., between the vectors of relative acceleration a of the target object (12) and relative radial acceleration a_r of the target object (12).

12. The device according to claim 10 or claim 11, wherein a vector {right arrow over (p)} is provided for analyzing measured values r_i, v_r,i detected by the sensor system (11), this vector containing at least some of the parameters being sought, the vector {right arrow over (p)} having the form

{right arrow over (p)}=[a, v₀,α

₀

where a denotes the relative acceleration of the target object (12), v₀ denotes the relative initial velocity of the target object (12) in the first measurement and α

₀ denotes the angle between the vectors of relative velocity v of the target object (12) and relative radial velocity v_r of the target object (12), i.e., the angle between the vectors of relative acceleration a of the target object (12) and relative radial acceleration a_r of the target object (12) in the first measurement.

13. The device according to one of claims 10 through 12, wherein the sensor system (11) detects measured values for target object distances r_i at different points in time t_i and the means describe target object distance r on the basis of the equation:

r=f({right arrow over (p)},t)={square root}{square root over ((r₀ cos(α

₀)+v₀t+at²/2)²+(r₀ sin(α

₀))²)}

where r₀ denotes the target object distance in the first measurement, v₀ denotes the relative initial velocity of the target object (12) in the first measurement, a denotes the relative acceleration of the target object (12), t is the time and α

₀ is the angle between the vectors of relative velocity v of the target object (12) and relative radial velocity v_r of the target object (12), i.e., the angle between the vectors of relative acceleration a of the target object (12) and relative radial acceleration a_r of the target object (12) in the first measurement.

14. The device according to one of claims 10 through 13, wherein the sensor system (11) detects measured values for relative radial velocities v_r,i of the target object (12) at different points in time t_i, and the means describe relative radial velocity v_r of the target object (12) by using the equation:

15. The device according to one of claims 10 through 14, wherein the sensor system (11) detects measured values for target object distances r_i and measured values for relative radial velocities v_r,i at different points in time t_i, and the means describe relative radial velocity v_r of the target object (12) by using the equation:

16. The device according to one of claims 10 through 15, wherein the means for estimating the parameter values define a norm Q({right arrow over (p)}) as follows:

Q({right arrow over (p)})=Q₁({right arrow over (p)})=∥

r_i^k−

f^k({right arrow over (p)},t_i)∥

, where k=1 or k=2, or Q({right arrow over (p)})=Q₂({right arrow over (p)})=∥

v_i^k−

f^k({right arrow over (p)},t_i)∥

, where k=1 or k=2, or Q({right arrow over (p)})=Q₃({right arrow over (p)})=∥

v_i^k−

f^k({right arrow over (p)},t_i,r_i)∥

, where k=1 or k=2.

17. The device according to one of claims 10 through 16, wherein the means estimate the parameter values for the parameters contained in vector {right arrow over (p)} on the basis of the measured values.

18. The device according to one of claims 10 through 17, wherein the means estimate the parameter values for the parameters contained in vector {right arrow over (p)} on the basis of points in time t_i and measured values r_i for the target object distances and/or measured values v_i for the relative radial velocities by using an optimization method in which they determine the minimum of the norm Q({right arrow over (p)}).