US6670910B2
Expired / Lapsed
US
⏱️ 0.0 years remaining
Near object detection system
Assignee: Valeo Radar Systems Inc
•
Filing: 2002-01-31
•
Granted: 2003-12-30
•
Expires: 2022-01-31
Abstract
Abstract A near object detection (NOD) system includes a plurality of sensors, each of the sensors for providing detection coverage in a predetermined coverage zone. Each of the sensors includes a transmit antenna for transmitting a first RF signal, a receive antenna for receiving a second RF signal and a means for sharing the target data between each of the plurality of sensors in the NOD system.
Inventors
- 👤 Michael Joseph Delcheccolo
- 👤 Mark E. Russell
- 👤 Walter Gordon Woodington
- 👤 Joseph S. Pleva
- 👤 John M. Firda
- 👤 H. Barteld Van Rees
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-25 05:06
CPC Classifications
G; G01; G01S; G01S13/00; G01S13/88; G01S13/93; B; B60; B60Q; B60Q9/00; B60Q9/008; B60K; B60K31/00; B60K31/0008; G01S13/02; G01S13/04; G01S13/06; G01S13/08; G01S13/10; G01S13/26; G01S13/28; G01S13/282; G01S13/32; G01S13/34; G01S13/343; G01S13/346; G01S13/46; G01S13/48; G01S13/50; G01S13/58; G01S13/583; G01S13/584; G01S13/66; G01S13/72; G01S13/723; G01S13/87; G01S13/931; G01S7/00; G01S7/02; G01S7/023; G01S7/0232; G01S7/03; G01S7/032; G01S7/04; G01S7/06; G01S7/35; G01S7/352; G01S7/354; G01S7/356; G01S7/40; G01S7/4004; G01S7/4021; H; H01; H01Q; H01Q1/00; H01Q1/27; H01Q1/32; H01Q1/3208; H01Q1/3233; H01Q1/325; H01Q1/3258; H01Q1/3283; H01Q1/36; H01Q1/38; H01Q1/42; H01Q13/00; H01Q13/10; H01Q13/18; H01Q21/00; H01Q21/0006; H01Q21/0037; H01Q21/0043; H01Q21/0075; H01Q21/0087; H01Q21/06; H01Q21/061; H01Q21/065; H01Q25/00; H01Q3/00; H01Q3/24; H01Q3/26; H01Q3/30; H01Q3/34; H01Q3/40; B60T; B60T2201/00; B60T2201/08; B60T2201/081; B60T2201/088; B60W; B60W2530/00; B60W2530/10; B60W2554/00; B60W2554/40; B60W2554/404; B60W2554/4043; B60W2554/80; B60W2554/803; G01S13/726; G01S2013/0236; G01S2013/0245; G01S2013/9314; G01S2013/9315; G01S2013/9317; G01S2013/932; G01S2013/9321; G01S2013/9327; G01S2013/93271; G01S2013/93272; G01S2013/93274; G01S2013/93275; G01S7/038; G01S7/28; G01S7/285; G01S7/288; G01S7/4008
Claims Analysis
Total Claims: 28
Claim 1
Independent Claim
60 words
A near object detection system comprising: a plurality of target sensors coupled to a vehicle, each of the target sensors for providing range cell data having local coordinates associated with each respective target sensor; and a processor coupled to receive the range cell data having local coordinates and to process the range cell data in a vehicle global coordinate system.
Claim 2
Dependent Claim
60 words
A near object detection system comprising: a plurality of target sensors coupled to a vehicle, each of the target sensors for providing range cell data having local coordinates associated with each respective target sensor; and a processor coupled to receive the range cell data having local coordinates and to process the range cell data in a vehicle global coordinate system.
Claim 3
Dependent Claim
26 words
The system of claim 1 , wherein the processor comprises: a combiner for combining track files generated by respective ones of the plurality of target sensors.
Claim 4
Dependent Claim
188 words
The system of claim 1 , wherein the processor comprises: a multi-hypothesis tracker (MHT) adapted to receive the range cell data provided by the one or more target sensors; an association hypothesis generator coupled to the MHT; a state variable filter coupled to the association hypothesis generator and further coupled to the MHT; a public track generator coupled to the association hypothesis generator, wherein the public track generator transforms the local coordinates of positional tracks associated with targets to a vehicle global coordinate system; a data fuser coupled to the public track generator, wherein the data fuser combines the data tracks associated with each of the plurality of target sensors to provide fused public tracks; a track quality generator coupled to the data fuser, wherein the track quality generator determines data quality values associated with the fused public tracks; a discriminator coupled to the public track generator and to the track quality generator, wherein the discriminator provides sensor scheduling information; and a vehicle crash management operator coupled to the track quality generator and to the discriminator, wherein the vehicle crash management operator provides control actions to vehicle systems.
Claim 5
Dependent Claim
15 words
The system of claim 3 , wherein the state variable filter includes a Kalman filter.
Claim 6
Dependent Claim
47 words
The system of claim 3 , further comprising: a sensor scheduler coupled to the discriminator and to at least one of the plurality of target sensors, wherein the sensor scheduler provides an update schedule associated with range cell data updates provided by the plurality of target sensors.
Claim 7
Dependent Claim
27 words
The system of claim 5 , wherein the sensor scheduler further provides a beam dwell associated with at least a respective one of the plurality of sensors.
Claim 8
Dependent Claim
84 words
A near object detection system comprising: a plurality of target sensors coupled to a vehicle, each of the target sensors for providing target data, wherein the target sensors include at least one of: an infrared (IR) sensor and a radar sensor; a processor for receiving the target data, processing the data and providing a processor output coupled to one or more vehicle safety systems; wherein the processor includes a combiner for combining track files generated by respective ones of the plurality of target sensors.
Claim 9
Dependent Claim
84 words
A near object detection system comprising: a plurality of target sensors coupled to a vehicle, each of the target sensors for providing target data, wherein the target sensors include at least one of: an infrared (IR) sensor and a radar sensor; a processor for receiving the target data, processing the data and providing a processor output coupled to one or more vehicle safety systems; wherein the processor includes a combiner for combining track files generated by respective ones of the plurality of target sensors.
Claim 10
Dependent Claim
248 words
A near object detection system comprising: a plurality of target sensors coupled to a vehicle, each of the target sensors for providing target data, wherein the target sensors include at least one of: an infrared (IR) sensor and a radar sensor; and a processor for receiving the target data, processing the data and providing a processor output coupled to one or more vehicle safety systems, wherein the processor includes: a multi-hypothesis tracker (MHT) adapted to receive the target data provided by the one or more target sensors; an association hypothesis generator coupled to the MHT; a state variable filter coupled to the association hypothesis generator and further coupled to the MHT; a public track generator coupled to the association hypothesis generator, wherein the public track generator transforms the local coordinates of positional tracks associated with targets to a vehicle global coordinate system; a data fuser coupled to the public track generator, wherein the data fuser combines the data tracks associated with each of the plurality of target sensors to provide fused public tracks; a track quality generator coupled to the data fuser, wherein the track quality generator determines data quality values associated with the fused public tracks; a discriminator coupled to the public track generator and to the track quality generator, wherein the discriminator provides sensor scheduling information; and a vehicle crash management operator coupled to the track quality generator and to the discriminator, wherein the vehicle crash management operator provides control actions to the vehicle safety systems.
Claim 11
Dependent Claim
248 words
A near object detection system comprising: a plurality of target sensors coupled to a vehicle, each of the target sensors for providing target data, wherein the target sensors include at least one of: an infrared (IR) sensor and a radar sensor; and a processor for receiving the target data, processing the data and providing a processor output coupled to one or more vehicle safety systems, wherein the processor includes: a multi-hypothesis tracker (MHT) adapted to receive the target data provided by the one or more target sensors; an association hypothesis generator coupled to the MHT; a state variable filter coupled to the association hypothesis generator and further coupled to the MHT; a public track generator coupled to the association hypothesis generator, wherein the public track generator transforms the local coordinates of positional tracks associated with targets to a vehicle global coordinate system; a data fuser coupled to the public track generator, wherein the data fuser combines the data tracks associated with each of the plurality of target sensors to provide fused public tracks; a track quality generator coupled to the data fuser, wherein the track quality generator determines data quality values associated with the fused public tracks; a discriminator coupled to the public track generator and to the track quality generator, wherein the discriminator provides sensor scheduling information; and a vehicle crash management operator coupled to the track quality generator and to the discriminator, wherein the vehicle crash management operator provides control actions to the vehicle safety systems.
Claim 12
Dependent Claim
15 words
The system of claim 8 , wherein the state variable filter includes a Kalman filter.
Claim 13
Dependent Claim
46 words
The system of claim 8 , further comprising: a sensor scheduler coupled to the discriminator and to at least one of the plurality of target sensors, wherein the sensor scheduler provides an update schedule associated with target data updates provided by the plurality of target sensors.
Claim 14
Dependent Claim
20 words
The system of claim 10 , wherein the sensor scheduler further provides a beam dwell associated with the radar sensor.
Claim 15
Dependent Claim
64 words
A near object detection method comprising: target tracking with a plurality of target sensors coupled to a vehicle, which provide range cell data having local coordinates associated with each respective target sensor; and sharing the target data provided by each of the plurality of target sensors in a processor coupled to receive and process the range cell data in a vehicle global coordinate system.
Claim 16
Dependent Claim
64 words
A near object detection method comprising: target tracking with a plurality of target sensors coupled to a vehicle, which provide range cell data having local coordinates associated with each respective target sensor; and sharing the target data provided by each of the plurality of target sensors in a processor coupled to receive and process the range cell data in a vehicle global coordinate system.
Claim 17
Dependent Claim
26 words
The method of claim 12 , wherein the sharing the target data comprises: combining track files generated by respective ones of the plurality of target sensors.
Claim 18
Dependent Claim
225 words
The method of claim 12 , wherein the sharing the target data comprises: comparing track hypotheses with a multi-hypothesis tracker (MHT) adapted to receive the range cell data provided by the one or more target sensors; testing track hypotheses with an association hypothesis generator coupled to the MHT; filtering with a state variable filter coupled to the association hypothesis generator and further coupled to the MHT; generating public tracks with a public track generator coupled to the association hypothesis generator, wherein the public track generator transforms the local coordinates of positional tracks associated with targets to a vehicle global coordinate system; data fusing with a data fuser coupled to the public track generator, wherein the data fuser combines the target data associated with each of the plurality of target sensors to provide fused public tracks; generating track quality values with a track quality generator coupled to the data fuser, wherein the track quality generator determines data quality values associated with the fused public tracks; discriminating with a discriminator coupled to the public track generator and to the track quality generator, wherein the discriminator provides sensor scheduling information; and controlling actions of safety systems coupled to the vehicle with a vehicle crash management operator coupled to the track quality generator and to the discriminator, wherein the vehicle crash management operator provides control actions to vehicle systems.
Claim 19
Dependent Claim
15 words
The method of claim 14 , wherein the state variable filter is a Kalman filter.
Claim 20
Dependent Claim
51 words
The method of claim 14 , further comprising: scheduling the target sensors with a sensor scheduler coupled to the discriminator and to at least one of the plurality of target sensors, wherein the sensor scheduler provides an update schedule associated with target data updates provided by the plurality of target sensors.
Claim 21
Dependent Claim
21 words
The method of claim 16 , further comprising: generating with the sensor scheduler, a beam dwell associated with the radar sensor.
Claim 22
Dependent Claim
111 words
A near object detection method comprising: target tracking with a plurality of target sensors coupled to a vehicle, each of the target sensors for providing detection coverage in a predetermined coverage zone, and each of which provides target data, wherein the target tracking includes at least one of: imaging with an infrared (IR) sensor; and radar sensing with a radar sensor; and sharing the target data provided by each of the plurality of target sensors in a processor to provide a processor output coupled to one or more vehicle safety systems, wherein the sharing the target data includes combining track files generated by respective ones of the plurality of target sensors.
Claim 23
Dependent Claim
111 words
A near object detection method comprising: target tracking with a plurality of target sensors coupled to a vehicle, each of the target sensors for providing detection coverage in a predetermined coverage zone, and each of which provides target data, wherein the target tracking includes at least one of: imaging with an infrared (IR) sensor; and radar sensing with a radar sensor; and sharing the target data provided by each of the plurality of target sensors in a processor to provide a processor output coupled to one or more vehicle safety systems, wherein the sharing the target data includes combining track files generated by respective ones of the plurality of target sensors.
Claim 24
Dependent Claim
311 words
A near object detection method comprising: target tracking with a plurality of target sensors coupled to a vehicle, each of the target sensors for providing detection coverage in a predetermined coverage zone, and each of which provides target data, wherein the target tracking includes at least one of: imaging with an infrared (IR) sensor; and radar sensing with a radar sensor; and sharing the target data provided by each of the plurality of target sensors in a processor to provide a processor output coupled to one or more vehicle safety systems, wherein the sharing the target data includes: comparing track hypotheses with a multi-hypothesis tracker (MHT) adapted to receive the target data provided by the one or more target sensors; testing track hypotheses with an association hypothesis generator coupled to the MHT; filtering with a state variable filter coupled to the association hypothesis generator and further coupled to the MHT; generating public tracks with a public track generator coupled to the association hypothesis generator, wherein the public track generator transforms the local coordinates of positional tracks associated with targets to a vehicle global coordinate system; data fusing with a data fuser coupled to the public track generator, wherein the data fuser combines the target data associated with each of the plurality of target sensors to provide fused public tracks; generating track quality values with a track quality generator coupled to the data fuser, wherein the track quality generator determines data quality values associated with the fused public tracks; discriminating with a discriminator coupled to the public track generator and to the track quality generator, wherein the discriminator provides sensor scheduling information; and controlling actions of safety systems coupled to the vehicle with a vehicle crash management operator coupled to the track quality generator and to the discriminator, wherein the vehicle crash management operator provides control actions to the vehicle safety systems.
Claim 25
Dependent Claim
311 words
A near object detection method comprising: target tracking with a plurality of target sensors coupled to a vehicle, each of the target sensors for providing detection coverage in a predetermined coverage zone, and each of which provides target data, wherein the target tracking includes at least one of: imaging with an infrared (IR) sensor; and radar sensing with a radar sensor; and sharing the target data provided by each of the plurality of target sensors in a processor to provide a processor output coupled to one or more vehicle safety systems, wherein the sharing the target data includes: comparing track hypotheses with a multi-hypothesis tracker (MHT) adapted to receive the target data provided by the one or more target sensors; testing track hypotheses with an association hypothesis generator coupled to the MHT; filtering with a state variable filter coupled to the association hypothesis generator and further coupled to the MHT; generating public tracks with a public track generator coupled to the association hypothesis generator, wherein the public track generator transforms the local coordinates of positional tracks associated with targets to a vehicle global coordinate system; data fusing with a data fuser coupled to the public track generator, wherein the data fuser combines the target data associated with each of the plurality of target sensors to provide fused public tracks; generating track quality values with a track quality generator coupled to the data fuser, wherein the track quality generator determines data quality values associated with the fused public tracks; discriminating with a discriminator coupled to the public track generator and to the track quality generator, wherein the discriminator provides sensor scheduling information; and controlling actions of safety systems coupled to the vehicle with a vehicle crash management operator coupled to the track quality generator and to the discriminator, wherein the vehicle crash management operator provides control actions to the vehicle safety systems.
Claim 26
Dependent Claim
15 words
The method of claim 19 , wherein the state variable filter is a Kalman filter.
Claim 27
Dependent Claim
51 words
The method of claim 19 , further comprising: scheduling the target sensors with a sensor scheduler coupled to the discriminator and to at least one of the plurality of target sensors, wherein the sensor scheduler provides an update schedule associated with target data updates provided by the plurality of target sensors.
Claim 28
Dependent Claim
21 words
The method of claim 21 , further comprising: generating with the sensor scheduler, a beam dwell associated with the radar sensor.
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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) | 2006-12-29 | 2007-06-30 | 2007-12-30 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2010-12-29 | 2011-06-30 | 2011-12-30 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2014-12-29 | 2015-06-30 | 2015-12-30 | $7700.00 | Window Closed / Lapsed |