Method and apparatus for recognizing a vertical misalignment of a clearance sensor

• US 6,026,353 A
• Filed: 12/03/1997
• Issued: 02/15/2000
• Est. Priority Date: 12/07/1996
• Status: Expired due to Fees

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Winner, Hermann
• Primary Examiner(s): ASSOUAD, PATRICK J
• Application Number:
  US08/984,718
• Time in Patent Office: 804 Days
• Field of Search: 702/94, 702/183, 701/301, 701/23, 701/96, 342/70, 342/73, 342/74, 342/75
• US Class Current: 702/183
• 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 2013/9323 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 7/4026 Antenna boresight
• CPC Class Codes: G01S 7/4034 in elevation, i.e. in the vertical plane
• CPC Class Codes: G01S 7/4972 Alignment of sensor
• CPC Class Codes: G05D 3/12 using feedback

Abstract

A method and an apparatus on the basis of which a vertical misadjustment or misalignment of a clearance sensor, which is installed in or on a motor vehicle, can be recognized. Pitch motions of the motor vehicle are determined, for example via sensors, in the form of pitch angles, and are correlated in an analysis and control device with data and/or signals which were generated or prepared by the clearance sensor, and which contain the target detections or target detection losses.

Claims

1. A method for recognizing a vertical misalignment of a clearance sensor mounted to a motor vehicle, the method comprising the steps of:

determining a plurality of pitch angles of the motor vehicle;

determining a frequency of target occurrences, the target occurrences including at least one of an occurrence in which the clearance sensor detects a target and an occurrence in which the clearance sensor detects a target in one cycle but does not detect the target in a subsequent cycle;

determining a correlation between the plurality of pitch angles to the frequency of target occurrences;

determining a fault indicator as a function of the correlation; and

recognizing the vertical misalignment as a function of the fault indicator.

2. The method according to claim 1, wherein the clearance sensor is a radar sensor.

3. The method according to claim 1, wherein determining the correlation includes the steps of:

determining a frequency of pitch angle occurrences for each one of the plurality of pitch angles;

grouping the frequency of pitch angle occurrences into a predetermined plurality of pitch angle intervals, each pitch angle interval containing all frequency of pitch angle occurrences within a predetermined range of pitch angles;

grouping the frequency of target occurrences according to the plurality of pitch angle intervals, wherein at least one target occurrence that occurred at a first pitch angle within a pitch angle interval is grouped with any other target occurrences that occurred at a pitch angle within the same pitch angle interval; and

determining a frequency of target occurrences within each pitch interval of the plurality of pitch angle intervals,

wherein the correlation between the plurality of pitch angles to the frequency of target occurrences is determined using the frequency of pitch angle occurrences within a pitch angle interval and the frequency of target occurrences within the same pitch angle interval.

4. The method according to claim 1, wherein determining the correlation includes the steps of:

determining a corresponding plurality of distances for the plurality of target occurrences included in the frequency of target occurrences, each distance corresponding to a distance between the target and the clearance sensor for each target occurrence;

grouping the plurality of distances into a predetermined plurality of distance intervals;

grouping the frequency of target occurrences according to the plurality of distance intervals, wherein at least one target occurrence that was detected at a distance within a distance interval is grouped with other target occurrences that were detected at the same distance interval; and

determining a frequency of target occurrences within each distance interval of the plurality of distance intervals,

wherein the correlation is determined between the plurality of pitch angles and the frequency of target occurrences within each distance interval.

5. The method according to claim 1, wherein determining the correlation includes the steps of:

determining a frequency of pitch angle occurrences for each one of the plurality of pitch angles;

grouping the frequency of pitch angle occurrences into a predetermined plurality of pitch angle intervals, each pitch angle interval containing all frequency of pitch angle occurrences within a predetermined range of pitch angles;

determining a plurality of distances for all of the target occurrences in the frequency of target occurrences, each distance corresponding to the distance between the target and the clearance sensor for each target occurrence;

grouping the plurality of distances into a predetermined plurality of distance intervals;

grouping the frequency of target occurrences according to the plurality of pitch angle intervals and the plurality of distance intervals, wherein at least one target occurrence that was detected at a pitch angle and a distance is grouped with other target occurrences that occurred at the same pitch angle and the same distance, the target occurrences limited to those target occurrences in which a target was detected by the clearance sensor;

determining a frequency of target occurrences within each distance interval of the plurality of distance intervals and a corresponding pitch angle of the plurality of pitch angle intervals;

forming at least one quotient, the at least one quotient relating the frequency of target occurrences within each distance interval of the plurality of distance intervals and a corresponding pitch angle of the plurality of pitch angle intervals to a frequency of pitch angle occurrences within a corresponding pitch angle interval; and

analyzing a relationship between the at least one quotient and the corresponding pitch angle interval.

6. The method according to claim 5, wherein analyzing the relationship between the at least one quotient and the corresponding pitch angle interval includes the step of assuming the vertical misalignment of the clearance sensor if the at least one quotient deviates from a predetermined range.

7. The method according to claim 5, wherein analyzing the relationship between the at least one quotient and the corresponding pitch angle interval includes the step of determining a minimum quotient of the at least one quotient and the corresponding pitch angle interval, and wherein the corresponding pitch angle interval is used to determine a direction of the misalignment.

8. The method according to claim 5, wherein the analysis of the relationship between the at least one quotient and the corresponding pitch angle interval is performed only for a maximum distance interval.

9. The method according to claim 1, wherein determining the correlation includes the steps of:

determining a frequency of pitch angle occurrences for each one of the plurality of pitch angles;

grouping the frequency of pitch angle occurrences into a predetermined plurality of pitch angle intervals, each pitch angle interval containing all frequency of pitch angle occurrences within a predetermined range of pitch angles;

determining a plurality of distances for all of the target occurrences in the frequency of target occurrences, each distance corresponding to the distance between the target and the clearance sensor for each target occurrence;

grouping the plurality of distances into a predetermined plurality of distance intervals;

grouping the frequency of target occurrences according to the plurality of pitch angle intervals and the plurality of distance intervals, wherein at least one target occurrence that was detected at a pitch angle and a distance is grouped with other target occurrences that occurred at the same pitch angle and the same distance, the target occurrences limited to those target occurrences in which the clearance sensor detected a target in one cycle but not in a subsequent cycle;

determining a frequency of target occurrences within each distance interval of the plurality of distance intervals and a corresponding pitch angle of the plurality of pitch angle intervals;

forming at least one quotient, the at least one quotient relating the frequency of target occurrences within each distance interval of the plurality of distance intervals and a corresponding pitch angle of the plurality of pitch angle intervals to a frequency of pitch angle occurrences within a corresponding pitch angle interval;

comparing the at least one quotient to a predetermined threshold value; and

assuming the vertical misalignment of the clearance sensor if the at least one quotient is greater than the predetermined threshold value for the corresponding pitch angle interval.

10. The method according to claim 9, wherein the comparison of the at least one quotient to the predetermined threshold value is performed only for a maximum distance interval.

11. An apparatus for recognizing a vertical misalignment of a clearance sensor mounted to a motor vehicle, comprising:

means for determining a plurality of pitch angles of the motor vehicle;

means for determining a frequency of target occurrences, the target occurrences including at least one of an occurrence in which the clearance sensor detects a target and an occurrence in which the clearance sensor detects a target in one cycle but does not detect the target in a subsequent cycle;

means for determining a correlation between the plurality of pitch angles to the frequency of target occurrences;

means for determining a fault indicator as a function of the correlation; and

means for recognizing the vertical misalignment as a function of the fault indicator.