System and method for transmitting detected object attributes over a dedicated short range communication system

Patent metadata

Field	Value
Publication number	US-9830814-B2
Application number	US-201615198600-A
Country	US
Kind code	B2
Filing date	Jun 30, 2016
Priority date	Jul 20, 2015
Publication date	Nov 28, 2017
Grant date	Nov 28, 2017

Abstract

A motor vehicle system for generating and transmitting detected object attributes includes a communication system module positioned in a host vehicle receiving vehicle attribute data from a target vehicle and a sensed vehicle and preparing a fused object attribute data for transmission to the target vehicle. A vehicle track data sub-module in communication with the communication system module independently tracks the sensed vehicle and the target vehicle. An object detection and classification system module having a 3D object detection module identifies a vehicle type defined at least by a vehicle size and generates an object attribute data. A target fusion module receives the object attribute data from the object detection and classification system module, fuses the object attribute data with the vehicle attribute data to create the fused object attribute data, and forwards the fused object attribute data to the communication system module for transmission.

First claim

The following is claimed:

1. A motor vehicle system for generating and transmitting detected object attributes, comprising:
a communication system module positioned in a host vehicle receiving vehicle attribute data and preparing a fused object attribute data for transmission to a target vehicle;
a vehicle track data sub-module of the communication system module used to independently track at least one sensed vehicle and the target vehicle;
an object detection and classification system module having a 3D object detection module used to identify a vehicle type of the at least one sensed vehicle and the target vehicle defined at least by a vehicle size and to generate an object attribute data; and
a target fusion module receiving the object attribute data from the object detection and classification system module, fusing the object attribute data with the vehicle attribute data to create the fused object attribute data, and forwarding the fused object attribute data to the communication system module for transmission;
a decision module in communication with both the vehicle track data sub-module and the object detection and classification system module, wherein the vehicle attribute data is tracked by the vehicle track data sub-module and compared to the object attribute data generated in the object detection and classification system module; and
a track data generator module, wherein when the vehicle attribute data tracked by the vehicle track data sub-module is not coincident with the object attribute data, the vehicle attribute data is communicated directly to the track data generator module where a situational awareness of the vehicle attribute data is monitored.

2. The system for generating and transmitting detected object attributes of claim 1 , further including a message standard module acting to format data from the track data generator module prior to transmission.

3. The system for generating and transmitting detected object attributes of claim 1 , wherein the communication system module includes a data transfer sub-module transmitting the vehicle attribute data to at least the target vehicle.

4. The system for generating and transmitting detected object attributes of claim 1 , wherein the object detection and classification system module includes an object classification sub-module acting to distinguish the at least one sensed vehicle from a pedestrian.

5. The system for generating and transmitting detected object attributes of claim 1 , wherein the object detection and classification system module includes a stereo matching sub-module to perform stereo imaging of the at least one sensed vehicle and the target vehicle present in a host vehicle predefined sensing and transmission window.

6. The system for generating and transmitting detected object attributes of claim 1 , wherein the object detection and classification system module includes an object range map created using distance measurements and tracking computations for each of the at least one sensed vehicle and the target vehicle.

7. The system for generating and transmitting detected object attributes of claim 6 , wherein the object detection and classification system module includes a road geometry sub-module wherein the object attribute data from the object range map is compared to a highway geometry provided from a GPS database.

8. The system for generating and transmitting detected object attributes of claim 1 , wherein the object detection and classification system module includes a three-dimensional (3D) object detection sub-module wherein the object attribute data is modified to provide 3D geometry for each of the at least one sensed vehicle and the target vehicle.

9. The system for generating and transmitting detected object attributes of claim 8 , wherein the object detection and classification system module includes a 3D object track list created for each of the at least one sensed vehicle and the target vehicle.

10. The system for generating and transmitting detected object attributes of claim 9 , wherein the object detection and classification system module includes a range estimation sub-module, wherein a distance (range) of the at least one sensed vehicle and the target vehicle with respect to the host vehicle is identified and tracked.

11. The system for generating and transmitting detected object attributes of claim 8 , wherein the object detection and classification system module includes an object classification sub-module wherein 3D information identified by the 3D object detection sub-module is compared to a geometry of the at least one sensed vehicle and the target vehicle saved in a memory.

12. The system for generating and transmitting detected object attributes of claim 1 , further including a data modifier module generating coincidences and covariances included with the fused object attribute data.

13. A motor vehicle system for generating and transmitting detected object attributes, comprising:
a communication system module positioned in a host vehicle receiving vehicle attribute data from a target vehicle and at least one sensed vehicle and preparing an object attribute data for transmission to the target vehicle;
a vehicle track data sub-module of the communication system module used to independently track the at least one sensed vehicle and the target vehicle and the vehicle attribute data;
an object detection and classification system module in communication with the vehicle track data sub-module and having a 3D object detection module used to identify a vehicle type of the target vehicle and the at least one sensed vehicle defined at least by a vehicle size;
a decision module in communication with both the vehicle track data sub-module and the object detection and classification system module, wherein the vehicle attribute data being tracked by the vehicle track data sub-module is compared to the object attribute data generated in the object detection and classification system module;
a target fusion module receiving the object attribute data from the object detection and classification system module, fusing the object attribute data from the object detection and classification system module with the vehicle attribute data to create the fused object attribute data, and forwarding the fused object attribute data to the communication system module for transmission; and
a track data generator module, wherein when the vehicle attribute data tracked by the vehicle track data sub-module is not coincident with the object attribute data, the vehicle attribute data is communicated directly to the track data generator module where a situational awareness of the vehicle attribute data is monitored.

14. The system for generating and transmitting detected object attributes of claim 13 , wherein the object detection and classification system module includes:
a stereo matching sub-module to perform stereo imaging of the at least one sensed vehicle and the target vehicle present in a host vehicle predefined sensing and transmission window;
an object range map created using distance measurements and tracking computations for each of the at least one sensed vehicle and the target vehicle; and
a road geometry sub-module wherein object attribute data from the object range map is compared to a highway geometry provided from a GPS database.

15. The system for generating and transmitting detected object attributes of claim 13 , wherein the object detection and classification system module includes:
a 3D object track list created for each of the at least one sensed vehicle and the target vehicle; and
a range estimation sub-module for ide

Assignees

• Dura Operating Llc

Inventors

• Thompson Aaron Evans
• Gignac Donald Raymond
• Siddiqui Danish Uzair
• Patil Rajashekhar
• Thomas Gordon M

Classifications

• G06V10/809

  of classification results, e.g. where the classifiers operate on the same input data · CPC title

• G06F18/254

  of classification results, e.g. of results related to same input data · CPC title

• G01S2013/9316

  combined with communication equipment with other vehicles or with base stations · CPC title

• H04W4/80

  Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication · CPC title

• G01S17/04

  Systems determining the presence of a target · CPC title