Method and apparatus for in path target determination for an automotive vehicle using a gyroscopic device

• US 5,959,569 A
• Filed: 10/09/1997
• Issued: 09/28/1999
• Est. Priority Date: 10/09/1997
• Status: Expired due to Term

• Current Assignee: Bendix Commercial Vehicle Systems LLC (Estate of Heinz Hermann Thiele)
• Original Assignee: Eaton Vorad Technologies, LLC
• Inventors: Khodabhai, Yashwant
• Primary Examiner(s): Sotomayor, John B.
• Application Number:
  US08/947,772
• Time in Patent Office: 719 Days
• Field of Search: 342/70, 342/71, 342/72, 340/903, 701/300, 701/301, 701/302
• US Class Current: 342/70
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60W 2552/20 Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 30/18145 Cornering
• CPC Class Codes: G01S 13/86 Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 2013/93273 on the top of the vehicles
• CPC Class Codes: G01S 2013/93274 on the side of the vehicles

Abstract

The present invention concerns a method, an apparatus and an article of manufacture that satisfies the need for determining whether or not an obstacle vehicle is in the path of a host vehicle. Specifically, the present invention satisfies the above stated regardless of whether or not the host vehicle is moving in a straight path or along a curved path. Preferably, input data ("input") is collected from instruments mounted to a host vehicle. The input is used to calculate for the host vehicle the average turn rate, the radius of curvature of the path being traveled, the velocity, and a range from the host vehicle to a obstacle vehicle. Additionally, the input is used to determine the deviation of an obstacle from a 0° reference azimuth extending through the center of a radar beamating from a radar unit mounted to the host vehicle. An obstacle azimuth angle ∝_i is calculated and used to determine whether or not the obstacle is in the path of the host vehicle. After a determination is made as to whether or not the obstacle is in the path of the host vehicle, the results of that determination are sent to and displayed by sensors and displays which designate the results.

Claims

1. An in path-obstacle determination device comprising:

(a) an input device through which a deviation of an obstacle from a reference azimuth may be determined;

(b) a sensing device through which an average turn rate, a rate of travel, and a radius of curvature of a path traveled by a host vehicle may be determined; and

(c) circuitry coupled to the input device and the sensing device, and configured to determine whether the obstacle is in the path of travel of the host vehicle.

2. The device recited in claim 1, where the circuitry includes a processor.

3. The device recited in claim 1, where the sensing device is a gyroscope.

4. The device recited in claim 2, where the circuitry includes a storage unit.

5. The device in claim 3, where the circuitry includes a filter used to filter the output from the gyroscope.

6. The device recited in claim 5, where the filter uses a discrete formulation where Y.sub.η

=exp(-^T /τ

)*Y.sub.η

-1 +(1-¹ /τ

)*X.sub.η

-exp(-^T /τ

)*X.sub.η

-1, where T is a sampling interval, τ

is a constant related to a filter corner frequency, X.sub.η

represents gyroscope input sequences with 2.5 volt bias removed, and Y.sub.η

represents a filter output sequence.

7. The device recited in claim 6, wherein the average turn rate is determined as ##EQU2## where η

is the total number of samples used to determine the average turn rate, and Yi is the filter output for each sample.

8. The device recited in claim 7, wherein the radius of curvature is determined as R_turn =V/ω

_av, where V is a rate of travel of the host vehicle.

9. The device recited in claim 8, wherein determining whether the obstacle is in the path traveled by the host vehicle comprises:

(a) calculating an angle ∝

_i, where ∝

_i =R_i /(2*R_turn), where R_i is the range to an i^th obstacle;

(b) comparing ∝

_i with Ψ

, where Ψ

is a deviation of the obstacle at a given time from a reference azimuth; and

(c) determining whether the obstacle is in the path of the host vehicle based upon the comparison of Ψ

to ∝

_i.

10. The device recited in claim 8, wherein determining whether the obstacle is in a path of the host vehicle comprises:

(a) calculating an angle ∝

_i, where ∝

_i =R_i /(2*R_turn), where R_i is the range to an i^th obstacle;

(b) calculating a obstacle cross-range R_ci, where R_ci is the cross-range to an i^th obstacle, and where R_ci =R_i *(Ψ

_i -∝

_i) where Ψ

is the deviation of a obstacle at a given time from the reference azimuth; and

(c) determining whether the obstacle is in the path of the host vehicle by comparing R_ci to L, where L equals one-half the width of the path traveled by the host vehicle.

11. The device in claim 10, where the obstacle is in the path of the host vehicle if |R_ci |≦

L.

12. The device recited in claim 9, where the obstacle is in the path of the host vehicle if Ψ

_i =∝

_i, where i equals the total number of obstacles from 1 to η

.

13. The device recited in claim 9, where the obstacle is in the path of the host vehicle if |Ψ

_i -∝

_i |<

ε

where i equals the total number of obstacles from 1 to η and

ε

is a constant.

14. The device recited in claim 12, where the obstacle with the lowest value for R_i will be prioritized if |Ψ

_i -∝

_i |<

ε

is satisfied for more than one of the obstacles from 1 to η

.

15. An in-path obstacle determination device comprising;

(a) an input device through which a deviation of an obstacle from a reference azimuth may be determined;

(b) a gyroscope having an output and coupled to a host vehicle, wherein the gyroscope is used to determine an average turn rate, a rate of travel, and a radius of curvature for the host vehicle;

(c) a processor; and

(d) circuitry connecting the input device, the gyroscope, and the processor.

16. The device recited in claim 15, including a gyroscope output filter connected to the circuitry.

17. The device recited in claim 16, where the filter controls initial gyro bias using a discrete formulation where Y.sub.η

=exp(-^T /τ

)*Y.sub.η

-1 +(1-¹ /τ

)*X.sub.η

-exp(-^T /τ

)*X.sub.η

-1, where T is the sampling interval, τ

is a constant related to the filter comer frequency, X.sub.η

represents a gyroscope input sequence with 2.5 volts removed, and Y.sub.η

represents a filter output sequence.

18. The device cited in claim 16, wherein the radius of curvature is determined as R_turn =V/ω

_av, where V is a rate of travel of the host vehicle.

19. The device cited in claim 18, including determining whether the obstacle is in a path of the host vehicle, comprising:

(a) calculating an angle ∝

_i, where ∝

_i =R_i /(2*R_turn), where R_i is the range to an i^th obstacle;

(b) comparing ∝

_i with Ψ

, where Ψ

is a deviation of the obstacle at a given time from a reference azimuth; and

(c) determining that the obstacle is in the path of the host vehicle by comparing Ψ

to ∝

_i.

20. The device cited in claim 19, where the obstacle is in the path of the host vehicle if Ψ

_i =∝

_i, where i equals the number of obstacles from 1 to η

.

21. The device cited in claim 19, where the obstacle is in the path of the host vehicle if |Ψ

_i -∝

_i |<

ε

where i equals the total number of obstacles from 1 to η and

ε

is a constant.

22. The device cited in claim 21, where the obstacle with the smallest value for R_i will be prioritized if |Ψ

_i -∝

_i |<

ε

is satisfied for more than one obstacle from 1 to η

.

23. The method recited in claim 22, wherein the turn input is received from a gyroscope, and the initial bias of the gyroscope is determined as ##EQU3## where G_i is the sample reading at times one through η

.

24. The method recited in claim 23 including the step of storing turn input for a period of time when the host vehicle is stationary, and using the stored turn input to determine the initial bias of the gyroscope.

25. The method recited in claim 23, wherein the period of time includes four integrals, each measured from the time turn input is first generated, the integrals comprising:

(a) 0-2 minutes;

(b) 2-5 minutes;

(c) 5-10 minutes; and

(d) 10+ minutes.

26. The method recited in claim 23, wherein G_i is taken every 20 μ

sec and η

equals 64.

27. An in-path obstacle determination device comprising:

(a) input means for determining a deviation of a obstacle from a reference azimuth;

(b) sensing means for determining a turn rate, a rate of travel, and a radius of curvature for a host vehicle; and

(c) circuitry means for coupling the input means and the sensing means, and configured to determine whether the obstacle is in a path of travel of the host vehicle.

28. A method for in-path obstacle determination, comprising the steps of:

(a) receiving an input through which a deviation of a obstacle from a reference azimuth may be determined;

(b) receiving a turn input for a host vehicle from which an average turn rate, a rate of travel, and a radius of curvature for the path traveled by a host vehicle may be determined;

(c) calculating the average turn rate;

(d) determining the rate of travel of the host vehicle;

(e) calculating the radius of curvature for the path traveled;

(f) determining a range from the host vehicle to each obstacle;

(g) determining a deviation of each obstacle from the reference azimuth;

(h) calculating an angle ∝

_i ; and

(i) determining whether the obstacle is in a path of the host vehicle using the angle ∝

_i.

29. The method recited in claim 28, wherein determining whether the obstacle is in the path of the host vehicle includes calculating a cross-range to the obstacle using the angle ∝

_i.

30. The method recited in claim 28 including the step of filtering the turn input to eliminate any initial bias inherent in any instrument used to measure the turn input.

31. The method recited in claim 30, wherein the turn input is received from a gyroscope, and the initial bias of the gyroscope is determined as ##EQU4## where G_i is the sample reading at times one through η

.

32. The method recited in claim 30, including the step of storing turn input for a period of time when the host vehicle is stationary, and using the stored turn input to determine the initial bias of the gyroscope.

33. The method recited in claim 30, wherein the time period includes four integrals each measured from the time turn input is first generated, the integrals comprising:

(a) 0-2 minutes;

(b) 2-5 minutes;

(c) 5-10 minutes; and

(d) 10+ minutes.

34. The method recited in claim 30, wherein G_i is taken every 20 μ

sec and η

equals 64.

35. An article of manufacture comprising a data storage medium tangibly embodying a program of machine-readable instructions executable by a digital processing apparatus to perform method steps for in-path obstacle determination, said method steps comprising:

(a) receiving an input through which a deviation of a obstacle from a reference azimuth may be determined;

(b) receiving a turn input for a host vehicle from which an average turn rate, a rate of travel, and a radius of curvature for the path traveled by a host vehicle may be determined;

(c) calculating the average turn rate;

(d) determining the rate of travel of the host vehicle;

(e) calculating the radius of curvature for the path traveled;

(f) determining a range from the host vehicle to each obstacle;

(g) determining a deviation of each obstacle from the reference azimuth;

(h) calculating an angle ∝

_i ; and

(i) determining whether the obstacle is in a path of the host vehicle using the angle ∝

_i.

36. The article of manufacture recited in claim 35, including the step of filtering the turn input to eliminate initial bias inherent in any instrument used to measure the turn input.

37. The article of manufacture recited in claim 35, including the step of storing turn input for a period of time when the host vehicle is stationary, and using the stored turn input to determine the initial bias of the gyroscope.

38. The article of manufacture recited in claim 37, wherein the time period includes four integrals, each measured from the time turn input is first generated, the integrals comprising:

(a) 0-2 minutes;

(b) 2-5 minutes;

(c) 5-10 minutes; and

(d) 10+ minutes.