Patent US5806019A successfully refreshed from Google Patents.
US5806019A
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Object detecting process in vehicle
Assignee: Honda Motor Co Ltd
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Filing: 1996-05-22
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Granted: 1998-09-08
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Expires: 2016-05-22
Abstract
Abstract In a vehicle including a distance sensor capable of detecting longitudinal and lateral distances from a subject vehicle to an object, the following steps are carried out: a step of enclosing some of the detection data, detected by the distance sensor, which exist within a first predetermined distance from one another, into a block having a block label assigned thereto, a step of comparing last and current values of the center of gravity position of each block with each other for every same block label to calculate a relative speed of each block relative to the subject vehicle, a step of determining object data by determining that some of the blocks, which exist within a second predetermined distance from one another and a difference between the relative speeds of which is within a preset value, are the same object, and a step of averaging lateral relative speeds of the blocks in the same object to determine a lateral relative speed of the object relative to the subject vehicle. In this manner, objects whose relative motions relative to the subject vehicle are different from one another are correctly detected, and lateral relative speed of the objects relative to the subject vehicle are accurately detected.
Inventors
- 👤 Mahito Ishiyama
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-29 22:24
CPC Classifications
G; G01; G01S; G01S13/00; G01S13/88; G01S13/93; G01S13/931; G01S7/00; G01S7/02; G01S7/41; G01S7/411; G01S7/412; G01S13/02; G01S13/50; G01S13/58; G01S13/589; G01S2013/932; G01S2013/9325; G01S2013/9327; G01S2013/93271; G01S2013/9329
Claims Analysis
Total Claims: 15
Claim 1
Independent Claim
175 words
A process for detecting an object in a vehicle which includes a distance sensor capable of detecting longitudinal and lateral distances from the subject vehicle to an object by transmitting a signal to the object and receiving the reflected signal from the object, said process comprising the steps of: enclosing, into a block having a block label assigned thereto, some of the detection data detected by said distance sensor which exist within a first predetermined distance from one another; comparing last and current values of a center of gravity position of each block with each other for every same block label to calculate a relative speed of each block relative to the subject vehicle; determining object data by determining that some of the blocks which exist within a second predetermined distance and a difference between said relative speeds of which is within a preset value, are the same object; and averaging lateral relative speeds of the blocks in the same object to provide a lateral relative speed of the object relative to the subject vehicle.
Claim 2
Dependent Claim
175 words
A process for detecting an object in a vehicle which includes a distance sensor capable of detecting longitudinal and lateral distances from the subject vehicle to an object by transmitting a signal to the object and receiving the reflected signal from the object, said process comprising the steps of: enclosing, into a block having a block label assigned thereto, some of the detection data detected by said distance sensor which exist within a first predetermined distance from one another; comparing last and current values of a center of gravity position of each block with each other for every same block label to calculate a relative speed of each block relative to the subject vehicle; determining object data by determining that some of the blocks which exist within a second predetermined distance and a difference between said relative speeds of which is within a preset value, are the same object; and averaging lateral relative speeds of the blocks in the same object to provide a lateral relative speed of the object relative to the subject vehicle.
Claim 3
Dependent Claim
32 words
A process according to claim 1, wherein said first predetermined distance is based upon an error of detection by the distance sensor and a size of a reflector mounted on the vehicle.
Claim 4
Dependent Claim
27 words
A process according to claim 1, wherein said comparison of last and current values includes predicting a range of movement from the last values of block data.
Claim 5
Dependent Claim
43 words
A process according to claim 3, wherein a predicted range of movement for a last block of data is determined separately for a) a block of data having a previous relative speed and b) a block of data having no previous relative speed.
Claim 6
Dependent Claim
77 words
A process according to claim 4, wherein a predicted range of longitudinal and lateral movements for the block having the previous relative speed is determined to have a size of {(a range in which a position of a center of gravity of the block is movable up to a next measuring period+an error of a predicted value due to a variability in relative speed vector+an error of detection by the distance sensor+a block width measured last time/2)×2}.
Claim 7
Dependent Claim
64 words
A processing according to claim 4, wherein a predicted range of longitudinal and lateral movements for the block having no previous relative speed is determined to have a size of {(a range in which a position of a center of gravity of the block is movable up to a next measuring period+an error of detection by the distance sensor+a block width measured last time/2)×2}.
Claim 8
Dependent Claim
31 words
A process according to claim 5, wherein the range in which the position of the center of gravity is movable is based upon a sum of vehicle speed and relative speed.
Claim 9
Dependent Claim
34 words
A process according to claim 6, wherein the range in which the position of the center of gravity is movable is based upon a speed at which the vehicle can travel on a road.
Claim 10
Dependent Claim
24 words
A process according to claim 3, further comprising the step of determining whether a current block data exists within a predicted range of movement.
Claim 11
Dependent Claim
76 words
A process according to claim 1, wherein the relative speed is calculated by ______________________________________
V.sub.X =
(a current center of gravity position in an
X-direction - a last center of gravity position in the
X-direction) /measuring period
V.sub.Y =
(a current center of gravity position in a
Y-direction - a last center of gravity position in the
Y-direction)/measuring period
______________________________________ wherein V X is a lateral relative speed, and V Y is a longitudinal relative speed.
Claim 12
Dependent Claim
29 words
A process according to claim 1, wherein said second predetermined distance is based upon a detection error and a distance between left and right reflectors mounted on a vehicle.
Claim 13
Dependent Claim
66 words
A process according to claim 11, wherein a center of gravity position of each object data is determined by ______________________________________
C.sub.X =
(a left end point of each detection data + a
right end point thereof)/2
C.sub.Y =
an average value of centers of gravity in the
direction of Y-axis of block data, when CX iS the X
coordinate and C.sub.Y is the Y coordinate.
______________________________________
Claim 14
Dependent Claim
71 words
A process according to claim 1, wherein an object relative speed in the longitudinal and lateral directions (V y ' and V x ') are determined by ______________________________________
V.sub.Y ' =
an average value of relative speeds of the blocks
in the object data in the direction of Y-axis
V.sub.X ' =
an average value of relative speeds of the blocks
in the object data in the direction of X-axis.
______________________________________
Claim 15
Dependent Claim
38 words
A process according to claim 13, wherein a relative speed according to a time series change in center of gravity position is determined by ______________________________________
{(center of gravity last time - center of gravity
second-to-last time)/measuring period}.
______________________________________
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2001-09-07 | 2002-03-09 | 2002-09-08 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2005-09-07 | 2006-03-09 | 2006-09-08 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2009-09-07 | 2010-03-09 | 2010-09-08 | $7700.00 | Window Closed / Lapsed |