Method and apparatus for target vehicle identification in automatic cruise control and collision avoidance systems
First Claim
1. A method for identifying a target vehicle in transient and non-transient situations, comprising:
- determining a position of an ACC vehicle;
estimating a position of a preceding vehicle relative to the position of the ACC vehicle from the position of the ACC vehicle;
creating a time-dependent position trace of the preceding vehicle;
estimating a radius “
a”
of the position trace of the preceding vehicle by applying circular curve fitting to the position trace of the preceding vehicle to create a curve; and
determining whether the preceding vehicle is in a path of the ACC vehicle by examining a curve fitting error.
12 Assignments
0 Petitions
Accused Products
Abstract
An apparatus and method are provided for identifying a preceding vehicle as a target vehicle in transient and non-transient situations. The method generally includes, estimating a position of the target vehicle relative to a position of an ACC vehicle from the position of the ACC vehicle to create a target vehicle estimated position; creating a time-dependent position trace of the target vehicle; estimating a radius of the position trace of the target vehicle by applying circular curve fitting to the position trace of the target vehicle; and determining whether the target vehicle is in an ACC vehicle lane using the radius of the position trace, the target vehicle estimated position and the position of the ACC vehicle.
31 Citations
30 Claims
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1. A method for identifying a target vehicle in transient and non-transient situations, comprising:
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determining a position of an ACC vehicle;
estimating a position of a preceding vehicle relative to the position of the ACC vehicle from the position of the ACC vehicle;
creating a time-dependent position trace of the preceding vehicle;
estimating a radius “
a”
of the position trace of the preceding vehicle by applying circular curve fitting to the position trace of the preceding vehicle to create a curve; and
determining whether the preceding vehicle is in a path of the ACC vehicle by examining a curve fitting error. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A method for determining the lane position of a preceding vehicle in transient and non-transient situations, comprising:
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determining a position of an ACC vehicle;
estimating a position of a preceding vehicle relative to the position of the ACC vehicle from the position of the ACC vehicle to create the preceding vehicle estimated position;
creating a time-dependent position trace of the target vehicle;
estimating a radius of the position trace of the target vehicle by applying circular curve fitting to the position trace of the target vehicle to create a circle; and
determining whether the preceding vehicle is in an ACC vehicle lane by examining a curve fitting error. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28)
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29. A target identification system, comprising:
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a memory device that stores position information of an ACC vehicle and a distance and azimuth angle between the ACC vehicle and a preceding vehicle;
a processor and computer software that computes a position of a target vehicle using the position information of the ACC vehicle and the distance and azimuth angle;
creates a position trace;
transforms the position trace into a local coordinate system (ξ
,η
); and
estimates a radius of the position trace using curve fitting, and quadratic regression.
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30. An ACC system, comprising:
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a target vehicle sensor;
at least one ACC vehicle sensor;
the target identification system as claimed in claim 30;
andan ACC vehicle control mechanism.
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Specification