US6002983A
Expired / Lapsed
US
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Angle extent estimation method for a motor vehicle object detection system
Assignee: Delphi Technologies Inc
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Filing: 1997-08-27
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Granted: 1999-12-14
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Expires: 2017-08-27
Abstract
Abstract A method of operation for a motor vehicle object detection system is described, in which the extent angle of an identified target is accurately determined by applying a point source scatterer identification technique to data at the periphery of a composite return. Return amplitude data from one or more complete scans of the sensor beam are collected and compared with a target threshold to identify objects in the viewing angle, thereby forming an array of amplitude data associated with successive beam positions for each identified object. In each array, the left-most and right-most pair of amplitude data points associated with successive beam positions are selected and individually used to compute the angle of a point source scatterer which would be responsible for that data pair. The computed scatterer angles are taken as the left and right edges of the target and used to determine the angle extent of the identified object, which in turn, enables reliable determination as to whether the identified object is in or out of the vehicle travel path, and what, if any, vehicle response is appropriate to maintain a given headway or avoid a collision with the object.
Inventors
- 👤 Stephen William Alland
- 👤 James Fredrick Searcy
- 👤 Kevin Ray Wherry
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-24 20:46
CPC Classifications
G; G01; G01S; G01S13/00; G01S13/66; G01S13/02; G01S13/06; G01S13/42; G01S13/88; G01S13/93; G01S13/931; G01S7/00; G01S7/02; G01S7/41; G01S7/411; G01S2013/93185; G01S2013/9319
Claims Analysis
Total Claims: 12
Claim 1
Independent Claim
253 words
In a motor vehicle object detection system having a sensor beam which is scanned back and forth through a viewing angle including a vehicle travel path, the system processing reflected beam energy to detect and respond to objects disposed in the travel path, a method of determining angular extent of an object comprising the steps of: processing energy return data from one or more complete scans of said sensor beam to identify objects in the viewing angle and to form an array of return amplitude data associated with successive beam positions for each identified object; selecting a first pair of return amplitude data associated with successive beam positions at a left-most edge of a selected array of return amplitude data, including left-most and next-to-left-most amplitude values; computing an angle of a point source scatterer which would be responsible for said first pair of return amplitude data by computing an amplitude ratio of said next-to-left-most amplitude value and said left-most amplitude value, and storing such angle as a left extent angle of a respective identified object; selecting a second pair of return amplitude data associated with successive beam positions at a right-most edge of the selected array; computing an angle of a point source scatterer which would be responsible for said second pair of return amplitude data, and storing such angle as a right extent angle of a respective identified object; and determining the overall extent angle of the respective identified object as an angle defined by the stored left and right extent angles.
Claim 2
Dependent Claim
253 words
In a motor vehicle object detection system having a sensor beam which is scanned back and forth through a viewing angle including a vehicle travel path, the system processing reflected beam energy to detect and respond to objects disposed in the travel path, a method of determining angular extent of an object comprising the steps of: processing energy return data from one or more complete scans of said sensor beam to identify objects in the viewing angle and to form an array of return amplitude data associated with successive beam positions for each identified object; selecting a first pair of return amplitude data associated with successive beam positions at a left-most edge of a selected array of return amplitude data, including left-most and next-to-left-most amplitude values; computing an angle of a point source scatterer which would be responsible for said first pair of return amplitude data by computing an amplitude ratio of said next-to-left-most amplitude value and said left-most amplitude value, and storing such angle as a left extent angle of a respective identified object; selecting a second pair of return amplitude data associated with successive beam positions at a right-most edge of the selected array; computing an angle of a point source scatterer which would be responsible for said second pair of return amplitude data, and storing such angle as a right extent angle of a respective identified object; and determining the overall extent angle of the respective identified object as an angle defined by the stored left and right extent angles.
Claim 3
Dependent Claim
67 words
The method of claim 1, wherein step of computing an angle of a point source scatterer which would be responsible for said first pair of return amplitude data further includes the steps of: computing a scatterer angle as a function of said amplitude ratio; and offsetting the computed scatterer angle by an angle value midway between sensor beam positions associated with said left-most and next-to-left-most amplitude values.
Claim 4
Dependent Claim
232 words
In a motor vehicle object detection system having a sensor beam which is scanned back and forth through a viewing angle including a vehicle travel path, the system processing reflected beam energy to detect and respond to objects disposed in the travel path, a method of determining angular extent of an object comprising the steps of: processing energy return data from one or more complete scans of said sensor beam to identify objects in the viewing angle and to form an array of return amplitude data associated with successive beam positions for each identified object; selecting a first pair of return amplitude data associated with successive beam positions at a left-most edge of a selected array of return amplitude data, and storing such angle as a left extent angle of a respective identified object; selecting a second pair of return amplitude data associated with successive beam positions at a right-most edge of the selected array including right-most and next-to-right-most amplitude values; computing an angle of a point source scatterer which would be responsible for said second pair of return amplitude data by computing a ratio of said next-to-right-most amplitude value and said right-most amplitude value, and storing such angle as a right extent angle of a respective identified object; and determining the overall extent angle of the respective identified object as an angle defined by the stored left and right extent angles.
Claim 5
Dependent Claim
232 words
In a motor vehicle object detection system having a sensor beam which is scanned back and forth through a viewing angle including a vehicle travel path, the system processing reflected beam energy to detect and respond to objects disposed in the travel path, a method of determining angular extent of an object comprising the steps of: processing energy return data from one or more complete scans of said sensor beam to identify objects in the viewing angle and to form an array of return amplitude data associated with successive beam positions for each identified object; selecting a first pair of return amplitude data associated with successive beam positions at a left-most edge of a selected array of return amplitude data, and storing such angle as a left extent angle of a respective identified object; selecting a second pair of return amplitude data associated with successive beam positions at a right-most edge of the selected array including right-most and next-to-right-most amplitude values; computing an angle of a point source scatterer which would be responsible for said second pair of return amplitude data by computing a ratio of said next-to-right-most amplitude value and said right-most amplitude value, and storing such angle as a right extent angle of a respective identified object; and determining the overall extent angle of the respective identified object as an angle defined by the stored left and right extent angles.
Claim 6
Dependent Claim
67 words
The method of claim 3, wherein step of computing an angle of a point source scatterer which would be responsible for said first pair of return amplitude data further includes the steps of: computing a scatterer angle as a function of said amplitude ratio; and offsetting the computed scatterer angle by an angle value midway between sensor beam positions associated with said left-most and next-to-left-most amplitude values.
Claim 7
Independent Claim
273 words
A method of operation for a motor vehicle object detection system having a sensor beam which is scanned back and forth through a viewing angle including a vehicle travel path angle, comprising the steps of: receiving reflected beam energy data from one or more complete scans of said sensor beam; processing said data to identify objects disposed in the viewing angle; forming an array of reflected beam energy amplitude data associated with successive beam positions for any identified object; and for a selected array of amplitude data, obtaining a first pair of amplitude data points associated with successive beam positions at a left-most edge of the selected array including left-most and next-to-left-most amplitude values; computing an angle of a point source scatterer which would be responsible for said first pair of amplitude data points by computing an amplitude ratio of said next-to-left-most amplitude value and said left-most amplitude value, and storing such angle as a left extent angle of the respective identified object; obtaining a second pair of amplitude data points associated with successive beam positions at a right-most edge of the selected array; computing an angle of a point source scatterer which would be responsible for said second pair of amplitude data points, and storing such angle as a right extent angle of the respective identified object; determining the overall extent angle of the respective identified object as an angle defined by the stored left and right extent angles; identifying an in-path object based on a coincidence of the determined overall extent angle and the vehicle travel path angle; and initiating a vehicle action in response to identification of an in-path object.
Claim 8
Independent Claim
273 words
A method of operation for a motor vehicle object detection system having a sensor beam which is scanned back and forth through a viewing angle including a vehicle travel path angle, comprising the steps of: receiving reflected beam energy data from one or more complete scans of said sensor beam; processing said data to identify objects disposed in the viewing angle; forming an array of reflected beam energy amplitude data associated with successive beam positions for any identified object; and for a selected array of amplitude data, obtaining a first pair of amplitude data points associated with successive beam positions at a left-most edge of the selected array including left-most and next-to-left-most amplitude values; computing an angle of a point source scatterer which would be responsible for said first pair of amplitude data points by computing an amplitude ratio of said next-to-left-most amplitude value and said left-most amplitude value, and storing such angle as a left extent angle of the respective identified object; obtaining a second pair of amplitude data points associated with successive beam positions at a right-most edge of the selected array; computing an angle of a point source scatterer which would be responsible for said second pair of amplitude data points, and storing such angle as a right extent angle of the respective identified object; determining the overall extent angle of the respective identified object as an angle defined by the stored left and right extent angles; identifying an in-path object based on a coincidence of the determined overall extent angle and the vehicle travel path angle; and initiating a vehicle action in response to identification of an in-path object.
Claim 9
Dependent Claim
67 words
The method of claim 5, wherein step of computing an angle of a point source scatterer which would be responsible for said first pair of amplitude data points further includes the steps of: computing a scatterer angle as a function of said amplitude ratio; and offsetting the computed scatterer angle by an angle value midway between sensor beam positions associated with said left-most and next-to-left-most amplitude values.
Claim 10
Independent Claim
272 words
A method of operation for a motor vehicle object detection system having a sensor beam which is scanned back and forth through a viewing angle including a vehicle travel path angle, comprising the steps of; receiving reflected beam energy data from one or more complete scans of said sensor beam; processing said data to identify objects disposed in the viewing angle; forming an array of reflected beam energy amplitude data associated with successive beam positions for any identified object; and for a selected array of amplitude data, obtaining a first pair of amplitude data points associated with successive beam positions at a left-most edge of the selected array; computing an angle of a point source scatterer which would be responsible for said first pair of amplitude data points, and storing such angle as a left extent angle of the respective identified object; obtaining a second pair of amplitude data points associated with successive beam positions at a right-most edge of the selected array including right-most and next-to-right-most amplitude values; computing an angle of a point source scatterer which would be responsible for said second pair of amplitude data points by computing a ratio of said next-to-right-most amplitude value and said right-most amplitude value, and storing such angle as a right extent angle of the respective identified object; determining the overall extent angle of the respective identified object as an angle defined by the stored left and right extent angles; identifying an in-path object based on a coincidence of the determined overall extent angle and the vehicle travel path angle; and initiating a vehicle action in response to identification of an in-path object.
Claim 11
Independent Claim
272 words
A method of operation for a motor vehicle object detection system having a sensor beam which is scanned back and forth through a viewing angle including a vehicle travel path angle, comprising the steps of; receiving reflected beam energy data from one or more complete scans of said sensor beam; processing said data to identify objects disposed in the viewing angle; forming an array of reflected beam energy amplitude data associated with successive beam positions for any identified object; and for a selected array of amplitude data, obtaining a first pair of amplitude data points associated with successive beam positions at a left-most edge of the selected array; computing an angle of a point source scatterer which would be responsible for said first pair of amplitude data points, and storing such angle as a left extent angle of the respective identified object; obtaining a second pair of amplitude data points associated with successive beam positions at a right-most edge of the selected array including right-most and next-to-right-most amplitude values; computing an angle of a point source scatterer which would be responsible for said second pair of amplitude data points by computing a ratio of said next-to-right-most amplitude value and said right-most amplitude value, and storing such angle as a right extent angle of the respective identified object; determining the overall extent angle of the respective identified object as an angle defined by the stored left and right extent angles; identifying an in-path object based on a coincidence of the determined overall extent angle and the vehicle travel path angle; and initiating a vehicle action in response to identification of an in-path object.
Claim 12
Dependent Claim
68 words
The method of claim 7, wherein the step of computing an angle of a point source scatterer which would be responsible for said second pair of amplitude data points further includes the steps of: computing a scatterer angle as a function of said amplitude ratio; and offsetting the computed scatterer angle by an angle value midway between sensor beam positions associated with said right-most and next-to-right-most amplitude values.
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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) | 2002-12-13 | 2003-06-14 | 2003-12-14 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2006-12-13 | 2007-06-14 | 2007-12-14 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2010-12-13 | 2011-06-14 | 2011-12-14 | $7700.00 | Window Closed / Lapsed |