System and method for tracking objects using a detection system

• US 5,587,929 A
• Filed: 09/02/1994
• Issued: 12/24/1996
• Est. Priority Date: 09/02/1994
• Status: Expired due to Term

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: League, Richard B., Lay, Norman K.
• Primary Examiner(s): Voeltz, Emanuel T.
• Assistant Examiner(s): Assouad, Patrick J.
• Application Number:
  US08/299,093
• Time in Patent Office: 844 Days
• Field of Search: 364/516, 364/424.01, 364/424.07, 342/159, 342/196, 342/118, 382/103
• US Class Current: 342/159
• CPC Class Codes: G01S 13/726 Multiple target tracking
• CPC Class Codes: G01S 13/87 Combinations of radar systems, e.g. primary radar and secondary radar
• CPC Class Codes: G01S 13/89 for mapping or imaging
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9316 combined with communication equipment with other vehicles or with base stations
• CPC Class Codes: G01S 2013/9323 Alternative operation using light waves
• CPC Class Codes: G01S 2013/9324 Alternative operation using ultrasonic waves
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 2013/93272 in the back of the vehicles
• CPC Class Codes: G01S 2013/93274 on the side of the vehicles
• CPC Class Codes: G01S 7/2883 using FFT processing

Abstract

A system and method of tracking objects first receives returns from objects in the field of view of a detector. The sensor generates a current frame of datapoints, where an object in the field of view can be represented by multiple datapoints. The datapoints are converted into global coordinates and mapped into a next frame of datapoints and generated at a next sample time to cream a new current frame of datapoints. This new current frame of datapoints is processed to form a list of objects with location and power information that includes information from one or more previous frames. This mapping and processing to form the list of objects allows the system to detect weak signal targets in a ground cluttered environment and minimizes the occurrence of false alarms.

Claims

1. A method of tracking objects using a detection system having a sensor that senses objects within a field of view, comprising the steps of:

(A) sensing objects in the field of view of the detector;

(B) generating a current frame of datapoints, wherein said datapoints represent an object sensed in step (A);

(C) converting said datapoints into datapoints represented in global coordinates; and

(D) mapping said converted datapoints into a next frame of datapoints to create a new frame of datapoints, wherein said new frame of datapoints represents objects detected in said next frame as well as objects detected in one or more previous frames,

(E) doing blob coloring on said new frame of datapoints to define objects;

(F) making a list of said objects in step (E);

wherein said step (E) comprises the steps of;

i. scanning said new frame to locate a bin having datapoint having a non-zero power value.

2. The method according to claim 1, further comprising the step of combining said power value of each said located bin having the same label.

3. The method according to claim 2, further comprising the step of incrementing a counter for one of said labels each time a bin is labeled with that said label.

4. The method according to claim 1, further comprising the step of combining all of said bins having first and second labels where said located bin is adjacent to a previously located bin having a first label and a previously located bin having a second label.

5. A system for tracking objects detected in the path of a host vehicle, comprising

a sensor mounted on said host vehicle and configured to detect objects within a field of view:

means for generating a current frame of datapoints, wherein said datapoints represent one or more objects detected by said sensor;

means for converting said datapoints into datapoints represented in global coordinates;

means for mapping said converted datapoints into a next frame of datapoints to create a new frame of datapoints, wherein said new frame of datapoints represents objects detected in said next frame as well as objects detected in one or more previous frames;

means for blob coloring said new frame of datapoints to define objects;

means for making a list of said defined objects;

means for blob coloring said new frame of datapoints to define objects;

and wherein said means for blob coloring comprises;

means for scanning said new frame to locate a bin having datapoint having a non-zero power value;

means for labeling said located bin with a new label where said located bin is not adjacent to a previously-labeled bin; and

means for labeling said located bin with the same label as was assigned to said previously-labeled bin where said located bin is adjacent to said previously-labeled bin.

6. The system according to claim 5, further comprising means for combining said power value of each said located bin having the same label.

7. The system according to claim 6, further comprising counter means for counting the number of bins having a given label.

8. The system according to claim 5, further comprising means for combining all of said bins having first and second labels where said located bin is adjacent to a previously located bin having a first label and a previously located bin having a second label.