US5959569A
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US
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Method and apparatus for in path target determination for an automotive vehicle using a gyroscopic device
Assignee: Bendix Commercial Vehicle Systems LLC
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Filing: 1997-10-09
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Granted: 1999-09-28
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Expires: 2017-10-09
Abstract
Abstract The present invention concerns a method, an apparatus and an article of manufacture that satisfies the need for determining whether or not an obstacle vehicle is in the path of a host vehicle. Specifically, the present invention satisfies the above stated regardless of whether or not the host vehicle is moving in a straight path or along a curved path. Preferably, input data ("input") is collected from instruments mounted to a host vehicle. The input is used to calculate for the host vehicle the average turn rate, the radius of curvature of the path being traveled, the velocity, and a range from the host vehicle to a obstacle vehicle. Additionally, the input is used to determine the deviation of an obstacle from a 0° reference azimuth extending through the center of a radar beamating from a radar unit mounted to the host vehicle. An obstacle azimuth angle ∝ i is calculated and used to determine whether or not the obstacle is in the path of the host vehicle. After a determination is made as to whether or not the obstacle is in the path of the host vehicle, the results of that determination are sent to and displayed by sensors and displays which designate the results.
Inventors
- 👤 Yashwant Khodabhai
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-25 07:26
CPC Classifications
G; G01; G01S; G01S13/00; G01S13/88; G01S13/93; G01S13/931; B; B60; B60K; B60K31/00; B60K31/0008; B60W; B60W30/00; B60W30/18; B60W30/18009; B60W30/18145; B60W2552/00; B60W2552/20; B60W2552/30; G01S13/86; G01S2013/932; G01S2013/9321; G01S2013/9325; G01S2013/9327; G01S2013/93271; G01S2013/93273; G01S2013/93274
Claims Analysis
Total Claims: 43
Claim 1
Independent Claim
83 words
An in path-obstacle determination device comprising: (a) an input device through which a deviation of an obstacle from a reference azimuth may be determined; (b) a sensing device through which an average turn rate, a rate of travel, and a radius of curvature of a path traveled by a host vehicle may be determined; and (c) circuitry coupled to the input device and the sensing device, and configured to determine whether the obstacle is in the path of travel of the host vehicle.
Claim 2
Dependent Claim
83 words
An in path-obstacle determination device comprising: (a) an input device through which a deviation of an obstacle from a reference azimuth may be determined; (b) a sensing device through which an average turn rate, a rate of travel, and a radius of curvature of a path traveled by a host vehicle may be determined; and (c) circuitry coupled to the input device and the sensing device, and configured to determine whether the obstacle is in the path of travel of the host vehicle.
Claim 3
Dependent Claim
12 words
The device recited in claim 1, where the circuitry includes a processor.
Claim 4
Dependent Claim
13 words
The device recited in claim 1, where the sensing device is a gyroscope.
Claim 5
Dependent Claim
13 words
The device recited in claim 2, where the circuitry includes a storage unit.
Claim 6
Dependent Claim
19 words
The device in claim 3, where the circuitry includes a filter used to filter the output from the gyroscope.
Claim 7
Dependent Claim
57 words
The device recited in claim 5, where the filter uses a discrete formulation where Y.sub.η =exp(- T /τ)*Y.sub.η-1 +(1- 1 /τ)*X.sub.η -exp(- T /τ)*X.sub.η-1, where T is a sampling interval, τ is a constant related to a filter corner frequency, X.sub.η represents gyroscope input sequences with 2.5 volt bias removed, and Y.sub.η represents a filter output sequence.
Claim 8
Dependent Claim
39 words
The device recited in claim 6, wherein the average turn rate is determined as ##EQU2## where η is the total number of samples used to determine the average turn rate, and Yi is the filter output for each sample.
Claim 9
Dependent Claim
30 words
The device recited in claim 7, wherein the radius of curvature is determined as R turn =V/ω av , where V is a rate of travel of the host vehicle.
Claim 10
Dependent Claim
93 words
The device recited in claim 8, wherein determining whether the obstacle is in the path traveled by the host vehicle comprises: (a) calculating an angle ∝ i , where ∝ i =R i /(2*R turn ), where R i is the range to an i th obstacle; (b) comparing ∝ i with Ψ, where Ψ is a deviation of the obstacle at a given time from a reference azimuth; and (c) determining whether the obstacle is in the path of the host vehicle based upon the comparison of Ψ to ∝ i .
Claim 11
Dependent Claim
126 words
The device recited in claim 8, wherein determining whether the obstacle is in a path of the host vehicle comprises: (a) calculating an angle ∝ i , where ∝ i =R i /(2*R turn ), where R i is the range to an i th obstacle; (b) calculating a obstacle cross-range R ci , where R ci is the cross-range to an i th obstacle, and where R ci =R i *(Ψ i -∝ i ) where Ψ is the deviation of a obstacle at a given time from the reference azimuth; and (c) determining whether the obstacle is in the path of the host vehicle by comparing R ci to L, where L equals one-half the width of the path traveled by the host vehicle.
Claim 12
Dependent Claim
20 words
The device in claim 10, where the obstacle is in the path of the host vehicle if |R ci |≦L.
Claim 13
Dependent Claim
35 words
The device recited in claim 9, where the obstacle is in the path of the host vehicle if Ψ i =∝ i , where i equals the total number of obstacles from 1 to η.
Claim 14
Dependent Claim
40 words
The device recited in claim 9, where the obstacle is in the path of the host vehicle if |Ψ i -∝ i |<ε where i equals the total number of obstacles from 1 to η and ε is a constant.
Claim 15
Dependent Claim
38 words
The device recited in claim 12, where the obstacle with the lowest value for R i will be prioritized if |Ψ i -∝ i |<ε is satisfied for more than one of the obstacles from 1 to η.
Claim 16
Dependent Claim
75 words
An in-path obstacle determination device comprising; (a) an input device through which a deviation of an obstacle from a reference azimuth may be determined; (b) a gyroscope having an output and coupled to a host vehicle, wherein the gyroscope is used to determine an average turn rate, a rate of travel, and a radius of curvature for the host vehicle; (c) a processor; and (d) circuitry connecting the input device, the gyroscope, and the processor.
Claim 17
Dependent Claim
75 words
An in-path obstacle determination device comprising; (a) an input device through which a deviation of an obstacle from a reference azimuth may be determined; (b) a gyroscope having an output and coupled to a host vehicle, wherein the gyroscope is used to determine an average turn rate, a rate of travel, and a radius of curvature for the host vehicle; (c) a processor; and (d) circuitry connecting the input device, the gyroscope, and the processor.
Claim 18
Dependent Claim
15 words
The device recited in claim 15, including a gyroscope output filter connected to the circuitry.
Claim 19
Dependent Claim
61 words
The device recited in claim 16, where the filter controls initial gyro bias using a discrete formulation where Y.sub.η =exp(- T /τ)*Y.sub.η-1 +(1- 1 /τ)*X.sub.η -exp(- T /τ)*X.sub.η-1, where T is the sampling interval, τ is a constant related to the filter comer frequency, X.sub.η represents a gyroscope input sequence with 2.5 volts removed, and Y.sub.η represents a filter output sequence.
Claim 20
Dependent Claim
30 words
The device cited in claim 16, wherein the radius of curvature is determined as R turn =V/ω av , where V is a rate of travel of the host vehicle.
Claim 21
Dependent Claim
89 words
The device cited in claim 18, including determining whether the obstacle is in a path of the host vehicle, comprising: (a) calculating an angle ∝ i , where ∝ i =R i /(2*R turn ), where R i is the range to an i th obstacle; (b) comparing ∝ i with Ψ, where Ψ is a deviation of the obstacle at a given time from a reference azimuth; and (c) determining that the obstacle is in the path of the host vehicle by comparing Ψ to ∝ i .
Claim 22
Dependent Claim
34 words
The device cited in claim 19, where the obstacle is in the path of the host vehicle if Ψ i =∝ i , where i equals the number of obstacles from 1 to η.
Claim 23
Dependent Claim
40 words
The device cited in claim 19, where the obstacle is in the path of the host vehicle if |Ψ i -∝ i |<ε where i equals the total number of obstacles from 1 to η and ε is a constant.
Claim 24
Dependent Claim
36 words
The device cited in claim 21, where the obstacle with the smallest value for R i will be prioritized if |Ψ i -∝ i |<ε is satisfied for more than one obstacle from 1 to η.
Claim 25
Dependent Claim
38 words
The method recited in claim 22, wherein the turn input is received from a gyroscope, and the initial bias of the gyroscope is determined as ##EQU3## where G i is the sample reading at times one through η.
Claim 26
Dependent Claim
38 words
The method recited in claim 23 including the step of storing turn input for a period of time when the host vehicle is stationary, and using the stored turn input to determine the initial bias of the gyroscope.
Claim 27
Dependent Claim
40 words
The method recited in claim 23, wherein the period of time includes four integrals, each measured from the time turn input is first generated, the integrals comprising: (a) 0-2 minutes; (b) 2-5 minutes; (c) 5-10 minutes; and (d) 10+ minutes.
Claim 28
Dependent Claim
18 words
The method recited in claim 23, wherein G i is taken every 20 μsec and η equals 64.
Claim 29
Dependent Claim
71 words
An in-path obstacle determination device comprising: (a) input means for determining a deviation of a obstacle from a reference azimuth; (b) sensing means for determining a turn rate, a rate of travel, and a radius of curvature for a host vehicle; and (c) circuitry means for coupling the input means and the sensing means, and configured to determine whether the obstacle is in a path of travel of the host vehicle.
Claim 30
Dependent Claim
71 words
An in-path obstacle determination device comprising: (a) input means for determining a deviation of a obstacle from a reference azimuth; (b) sensing means for determining a turn rate, a rate of travel, and a radius of curvature for a host vehicle; and (c) circuitry means for coupling the input means and the sensing means, and configured to determine whether the obstacle is in a path of travel of the host vehicle.
Claim 31
Independent Claim
138 words
A method for in-path obstacle determination, comprising the steps of: (a) receiving an input through which a deviation of a obstacle from a reference azimuth may be determined; (b) receiving a turn input for a host vehicle from which an average turn rate, a rate of travel, and a radius of curvature for the path traveled by a host vehicle may be determined; (c) calculating the average turn rate; (d) determining the rate of travel of the host vehicle; (e) calculating the radius of curvature for the path traveled; (f) determining a range from the host vehicle to each obstacle; (g) determining a deviation of each obstacle from the reference azimuth; (h) calculating an angle ∝ i ; and (i) determining whether the obstacle is in a path of the host vehicle using the angle ∝ i .
Claim 32
Independent Claim
138 words
A method for in-path obstacle determination, comprising the steps of: (a) receiving an input through which a deviation of a obstacle from a reference azimuth may be determined; (b) receiving a turn input for a host vehicle from which an average turn rate, a rate of travel, and a radius of curvature for the path traveled by a host vehicle may be determined; (c) calculating the average turn rate; (d) determining the rate of travel of the host vehicle; (e) calculating the radius of curvature for the path traveled; (f) determining a range from the host vehicle to each obstacle; (g) determining a deviation of each obstacle from the reference azimuth; (h) calculating an angle ∝ i ; and (i) determining whether the obstacle is in a path of the host vehicle using the angle ∝ i .
Claim 33
Dependent Claim
32 words
The method recited in claim 28, wherein determining whether the obstacle is in the path of the host vehicle includes calculating a cross-range to the obstacle using the angle ∝ i .
Claim 34
Dependent Claim
29 words
The method recited in claim 28 including the step of filtering the turn input to eliminate any initial bias inherent in any instrument used to measure the turn input.
Claim 35
Dependent Claim
38 words
The method recited in claim 30, wherein the turn input is received from a gyroscope, and the initial bias of the gyroscope is determined as ##EQU4## where G i is the sample reading at times one through η.
Claim 36
Dependent Claim
38 words
The method recited in claim 30, including the step of storing turn input for a period of time when the host vehicle is stationary, and using the stored turn input to determine the initial bias of the gyroscope.
Claim 37
Dependent Claim
39 words
The method recited in claim 30, wherein the time period includes four integrals each measured from the time turn input is first generated, the integrals comprising: (a) 0-2 minutes; (b) 2-5 minutes; (c) 5-10 minutes; and (d) 10+ minutes.
Claim 38
Dependent Claim
18 words
The method recited in claim 30, wherein G i is taken every 20 μsec and η equals 64.
Claim 39
Dependent Claim
162 words
An article of manufacture comprising a data storage medium tangibly embodying a program of machine-readable instructions executable by a digital processing apparatus to perform method steps for in-path obstacle determination, said method steps comprising: (a) receiving an input through which a deviation of a obstacle from a reference azimuth may be determined; (b) receiving a turn input for a host vehicle from which an average turn rate, a rate of travel, and a radius of curvature for the path traveled by a host vehicle may be determined; (c) calculating the average turn rate; (d) determining the rate of travel of the host vehicle; (e) calculating the radius of curvature for the path traveled; (f) determining a range from the host vehicle to each obstacle; (g) determining a deviation of each obstacle from the reference azimuth; (h) calculating an angle ∝ i ; and (i) determining whether the obstacle is in a path of the host vehicle using the angle ∝ i .
Claim 40
Dependent Claim
162 words
An article of manufacture comprising a data storage medium tangibly embodying a program of machine-readable instructions executable by a digital processing apparatus to perform method steps for in-path obstacle determination, said method steps comprising: (a) receiving an input through which a deviation of a obstacle from a reference azimuth may be determined; (b) receiving a turn input for a host vehicle from which an average turn rate, a rate of travel, and a radius of curvature for the path traveled by a host vehicle may be determined; (c) calculating the average turn rate; (d) determining the rate of travel of the host vehicle; (e) calculating the radius of curvature for the path traveled; (f) determining a range from the host vehicle to each obstacle; (g) determining a deviation of each obstacle from the reference azimuth; (h) calculating an angle ∝ i ; and (i) determining whether the obstacle is in a path of the host vehicle using the angle ∝ i .
Claim 41
Dependent Claim
30 words
The article of manufacture recited in claim 35, including the step of filtering the turn input to eliminate initial bias inherent in any instrument used to measure the turn input.
Claim 42
Dependent Claim
40 words
The article of manufacture recited in claim 35, including the step of storing turn input for a period of time when the host vehicle is stationary, and using the stored turn input to determine the initial bias of the gyroscope.
Claim 43
Dependent Claim
41 words
The article of manufacture recited in claim 37, wherein the time period includes four integrals, each measured from the time turn input is first generated, the integrals comprising: (a) 0-2 minutes; (b) 2-5 minutes; (c) 5-10 minutes; and (d) 10+ minutes.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2002-09-27 | 2003-03-29 | 2003-09-28 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2006-09-27 | 2007-03-29 | 2007-09-28 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2010-09-27 | 2011-03-29 | 2011-09-28 | $7700.00 | Window Closed / Lapsed |