Collision detection system and method of estimating miss distance employing curve fitting
First Claim
Patent Images
1. A collision detection system comprising:
- a sensor for sensing an object in a field of view and measuring range to the object and further determining range rate of the object; and
a controller for computing the product of range and range rate for each of a plurality of measurements, said controller further estimating a miss distance of the object as a function of the range and the product of range and range rate.
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Abstract
A collision detection system and method of estimating a miss distance of an object are provided. The collision detection system includes a sensor for sensing an object within a field of view and measuring range and range rate of the sensed object. The collision detection system further includes a controller for computing a mathematical square of the range and computing a mathematical square of the product of range and range rate. The controller estimates a miss distance of the object as a function of the computed squared range and the squared product of range and range rate.
35 Citations
30 Claims
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1. A collision detection system comprising:
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a sensor for sensing an object in a field of view and measuring range to the object and further determining range rate of the object; and
a controller for computing the product of range and range rate for each of a plurality of measurements, said controller further estimating a miss distance of the object as a function of the range and the product of range and range rate. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A vehicle collision detection system comprising:
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a sensor located on a vehicle for sensing an object in a field of view and measuring range to the object relative to the vehicle and further determining range rate of the object relative to the vehicle; and
a controller for computing a mathematical square of the range and computing a mathematical square of the product of range and range rate for each of a plurality of measurements, said controller further estimating a miss distance of the object relative to the vehicle as a function of the computed squared range and the squared product of range and range rate. - View Dependent Claims (11, 12, 13, 14)
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15. A method of estimating a miss distance of an object, said method comprising the steps of:
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sensing the presence of an object;
tracking the object;
measuring range to the object for each of a plurality of measurements;
determining range rate of the object for each of the plurality of measurements;
computing the product of range and range rate for each of the plurality of measurements; and
estimating a miss distance of the object as a function of the range and the product of range and range rate. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22, 23, 24, 25)
computing a mathematical square of range for each of the plurality of measurements; and
computing a mathematical square of the product of range and range rate for each of the plurality of measurements, wherein the miss distance is estimated as a function of the computed squared range and the squared product of range and range rate.
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17. The method as defined in claim 16 further comprising the step of defining a curve based on the computed squared range and the squared product of range and range rate for the plurality of measurements.
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18. The method as defined in claim 17, wherein the step of estimating the miss distance comprises estimating the miss distance based on the curve when the squared product of range and range rate is equal to zero.
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19. The method as defined in claim 18 further comprising the step of plotting values of the computed squared range versus the squared product of range and range rate, wherein the curve is generated based on the plotted values.
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20. The method as defined in claim 19 further comprising the step of estimating speed of the object as a function of slope of the curve.
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21. The method as defined in claim 19, wherein the curve is generated based on a least-squares fit line of the plotted measurements.
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22. The method as defined in claim, 15 wherein the step of estimating the miss distance is performed absent an azimuth angle measurement of the object.
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23. The method as defined in claim 15, wherein the method estimates the miss distance of an object relative to a vehicle.
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24. The method as defined in claim 23, wherein the estimated miss distance is the expected distance to the object at the closest point of approach to the vehicle.
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25. The method as defined in claim 15 further comprising the step of comparing the miss distance to a threshold and generating a collision output signal as a function of the comparison.
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26. A method of estimating a miss distance of an object relative to a vehicle, said method comprising the steps of:
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sensing the presence of an object relative to a vehicle;
tracking the object;
measuring range to the object for each of a plurality of measurements;
determining range rate of the object for each of the plurality of measurements;
computing a mathematical square of the range for each of the plurality of measurements;
computing a mathematical square of the product of range and range rate for each of the plurality of measurements; and
estimating a miss distance of the object relative to the vehicle as a function of the computed squared range and the squared product of range and range rate. - View Dependent Claims (27, 28, 29, 30)
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Specification