Sensor fusion system architecture

• US 6,862,537 B2
• Filed: 12/04/2002
• Issued: 03/01/2005
• Est. Priority Date: 03/21/2002
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Skrbina, David, Kronen, Stanley Thomas
• Primary Examiner(s): Hoff, Marc S.
• Assistant Examiner(s): Raymond, Edward
• Application Number:
  US10/065,958
• Publication Number:
  US 20030179084A1
• Time in Patent Office: 818 Days
• Field of Search: 702/32, 702/38, 702/57, 702/66, 702/94, 702/95, 702/96, 702/97, 702/104, 702/142, 702/143, 702/150, 702151-153, 702/189, 701/1, 701/2, 701/23, 701/116, 701/223, 701/301
• US Class Current: 702/32
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9323 Alternative operation using light 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

Abstract

A sensor system for generating information useful for determining the environment surrounding a vehicle includes multiple sensing zones, with each zone using sensors operating in different electromagnetic bands. The outputs of the sensors are fused to provide more useful information than that obtainable from either sensor, taken alone.

Claims

1. A method for generating information characterizing the environment around a vehicle comprising the steps of:

Designating a plurality of information gathering zones around the vehicle;

Selecting a first sensor type from a first hand portion of the electromagnetic spectrum and selecting a second sensor type from a second bank of the electromagnetic spectrum;

Deploying at least one A sensor from the first sensor type and one B sensor from the second sensor type in each information gathering zone;

Time tagging information generated from the A and B sensors so as to indicate when the information characterizing the ambient was gathered;

Selecting information A (t1), characteristic of a time t1, from sensor A;

Selecting information B (t2), characteristic of a time t2, from sensor B which corresponds to substantially the same time as information A (t1); and

Fusing information A (t1) and B (t2) so as to characterize a target in the environment of the vehicle.

2. A method for generating information as recited in claim 1 further comprising the steps of:

Selecting from the steps of interpolating and extrapolating the information of B (t2);

Interpolating the information of B (t2) to be at the same time tag moment as A (t1); and

Extrapolating the information of B (t2) to be at the same time tag moment as A (t1).

3. A method for generating information characterizing the environment, including a target, around a motor vehicle including the steps of;

Designating four information gathering zones A,B C, and D around the vehicle;

Selecting a radar sensor type and selecting a camera sensor type;

Deploying one radar sensor and one camera sensor in each information-gathering zone A, B, C, and D;

Time tagging information generated from the radar and camera sensors so as to indicate when the information characterizing the target was gathered;

Selecting information A (t) from the radar sensor;

Selecting information B (t) from the camera sensor which corresponds in substantially the same time to information A (t); and

Fusing information A (t) and B (t) so as to characterize the target in the environment of the vehicle.

4. A method for generating information as recited in claim 3 further comprising the steps of:

Selecting from the steps of interpolating and extrapolating the information of B (t);

Interpolating the information of B (t) to be at the same time tag moment as A (t); and

Extrapolating the information of B (t) to be at the same time tag moment as A (t).