Detection of a target object utilizing automotive radar

Patent metadata

Field	Value
Publication number	US-9889798-B1
Application number	US-201615253343-A
Country	US
Kind code	B1
Filing date	Aug 31, 2016
Priority date	Aug 31, 2016
Publication date	Feb 13, 2018
Grant date	Feb 13, 2018

Abstract

Systems and methods are presented herein for improved cross-path detection between a host vehicle and a target object. In general, the cross-path angle by solving a multiple hypothesis problem characterized by independent calculations across a first plurality of time points, the multiple hypothesis problem supposing a plurality of possible cross-path angle solutions, each cross-path angle solution representing a corresponding possible trajectory for the target object. Advantageously, a cross-traffic alert or other feedback may be triggered based at least partially on whether the target object is within a region of interest, wherein the region of interest is determined at least in part based on the estimated cross-path angle. In some embodiments the cross-path angle may be determined by selecting a cross-path angle solution from the plurality of possible cross-path angle solutions which minimizes a variance between results of the independent calculations across the first plurality of time points. Other feature disclosed herein include, determining an estimate for the cross-path angle for each of a plurality of trackings of the target object, wherein each tracking is characterized by a different set of two or more time points. This may advantageously enable, determining a change in trajectory of the target object based on variance between cross-path angle estimates.

First claim

The invention claimed is:

1. A cross-traffic alert system for a host vehicle, comprising:
an automotive proximity sensing detector mountable to a host vehicle and configured for tracking a relative position of a target object to the host vehicle over a first plurality of time points, where at any given time point, a trajectory of target object and a heading of the host vehicle intersect at a cross-path angle; and
a processor for receiving the digital signals and processing the digital signals to calculate the cross-path angle by solving an optimization problem which minimizes variance, across the first plurality time points, of a perpendicular path distance at each time point between a trajectory of target object and a common reference position (across the first plurality of time points) for the host vehicle.

2. The cross-traffic alert system of claim 1 , wherein the processor is configured to determine whether a cross-traffic alert or other feedback should be triggered based at least partially on whether the target object is within a region of interest, wherein the region of interest is determined at least in part based on the calculated cross-path angle.

3. The cross traffic alert system of claim 1 , wherein the optimization problem is solved as a multiple hypothesis problem, the multiple hypothesis problem supposing a plurality of possible cross-path angle solutions, each cross-path angle solution representing a corresponding possible trajectory for the target object.

4. The cross-traffic alert system of claim 3 , wherein solving the multiple hypothesis problem includes: (i) for each of the first-plurality of time points, calculating for each of the plurality of possible cross-path angle solutions a corresponding perpendicular path distance between the corresponding possible trajectory for the target object at that time point and a reference position for the host vehicle, and (ii) determining an estimate for the cross-path angle based on selecting a cross-path angle solution from the plurality of possible cross path-angle solutions which minimizes a variance between the corresponding perpendicular path distances for each of the time points.

5. The cross traffic alert system of claim 1 wherein the processor is further configured to determine a shortest path distance between a reference position of the host vehicle and a trajectory of the target object as determined by the calculated cross-path angle.

6. The cross-traffic alert system of claim 3 , wherein solving the multiple hypothesis problem includes: (i) for each of the first plurality of time points calculating for each of the plurality of possible cross-path angle solutions a corresponding perpendicular path distance between the corresponding possible trajectory for the target object at that time point and a reference position for the host vehicle, and (ii) for each of the plurality of possible cross-path angle solutions, determining a variance between the corresponding perpendicular path distances for each of the time points.

7. The cross-traffic alert system of claim 6 , wherein the first plurality of time points includes a first time point and a second time point, wherein solving the multiple hypothesis problem includes (i) for the first time point, calculating for each of the plurality of possible cross-path angle solutions a corresponding perpendicular path distance between the corresponding possible trajectory for the target object at the first time point and the reference position for the host vehicle (ii) for the second time point, calculating for each of the plurality of possible cross-path solutions a corresponding perpendicular path distance between the corresponding possible trajectory for the target object at the second time point and the reference position for the host vehicle and (iii) for each of the plurality of possible cross-path angle solutions, determining a difference between the corresponding perpendicular path distance at the first time point and the corresponding perpendicular path distance at the second time point.

8. The cross-traffic alert system of claim 1 wherein the perpendicular path distances first plurality of time points are calculated after tracking data for each of the first plurality of time points is received.

9. The cross-path alert system of claim 6 , wherein the variance information for the first plurality of time points is stored in a buffer after which the underlying perpendicular path distances are discarded from memory.

10. The cross-path alert system of claim 1 wherein the processor is further configured to recalculate the cross-path angle by solving an optimization problem which minimizes variance, across a second plurality of time points, of a perpendicular path distance at each time point in the second plurality of time points between a trajectory of target object and a common reference position (across the second plurality of time points) for the host vehicle.

11. The cross traffic alert system of claim 1 wherein the processor is further configured to determine whether a cross-traffic alert or other feedback should be triggered based at least partially on whether the target object is within a region of interest, wherein the region of interest is determined at least in part based on the calculated cross-path angle.

12. The cross traffic alert system of claim 1 wherein the host vehicle is stationary, wherein the reference position for the host vehicle is a constant position of the host vehicle.

13. The cross traffic alert system of claim 1 wherein the host vehicle is in motion with respect to the heading and wherein the reference position for the host vehicle is a common point of reference with known offsets relative to a position of the host vehicle at each of the time points.

14. The cross-traffic alert system of claim 1 wherein the automotive proximity sensing detector includes a radar transmitter for transmitting radar signals toward the target object and a radar receiver for receiving a plurality of returning radar signals reflected from the target object while tracking of the target object over the multiple time points, the radar transmitter and the radar receiver being mountable in the host vehicle.

15. A cross traffic alert system for a host vehicle, comprising:
an automotive proximity sensing detector mountable to a host vehicle and configured for tracking a relative position of target object to the host vehicle over multiple time points, where at any given time point, a trajectory of the target object and a heading of the host vehicle intersect at a cross-path angle; and
a processor configured for receiving and processing data from the automotive proximity sensing detector to determine the cross-path angle and to determine a shortest path distance between a position of the host vehicle and a trajectory of the target object as determined by the cross-path angle,
wherein the processor is configured to determine whether a cross-traffic alert or other feedback should be triggered based at least partially on the determined shortest path distance.

16. The cross-traffic alert system of claim 15 , wherein the shortest path distance is determined as a projection of a distance between a position of the host vehicle and a position of the target object along an axis perpendicular to a trajectory of the target object as characterized by the cross-path angle, wherein the distance between the position of the host vehicle and the position of target object is determined based on a tracking range measurement.

17. The cross traffic alert system of claim 15 wherein the processor is configure

Assignees

• Autoliv Asp Inc

Inventors

• Cong Shan
• Yan Bei

Classifications

• G01S13/886

  for alarm systems (alarms with electrical actuation G08B13/22) · CPC title

• G01S13/66

  Radar-tracking systems; Analogous systems · CPC title

• G06N7/00

  Computing arrangements based on specific mathematical models · CPC title

• B60Q9/008 Primary

  for anti-collision purposes · CPC title

• G01S13/931 Primary

  of land vehicles · CPC title