US6834232B1
Expired / Lapsed
US
⏱️ 0.0 years remaining
Dual disimilar sensing object detection and targeting system
Assignee: Ford Global Technologies LLC
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Filing: 2003-07-30
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Granted: 2004-12-21
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Expires: 2023-07-30
Abstract
Abstract A method of performing object detection within a collision warning and countermeasure system ( 10 ) is provided. The method includes generating an object detection signal and generating an image detection signal. Centers-of-reflection ( 56 ) and centers-of-intensity ( 59 ) are determined in response to the object detection signal and the image detection signal. The centers-of-intensity ( 59 ) are associated with the center-of-reflection ( 56 ). Differences between the centers-of-reflection ( 56 ) and the centroids ( 62 ) are determined for a plurality of frames ( 65 ) and a sensor difference signal is generated. An object ( 36 ) is classified in response to the sensor difference signal.
Inventors
- 👤 Anita B. Malhotra
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-26 03:05
CPC Classifications
G; G01; G01S; G01S13/00; G01S13/86; G01S13/88; G01S13/93; G06; G06V; G06V10/00; G06V10/20; G06V10/255; G08; G08G; G08G1/00; G08G1/16; G08G1/161; G08G1/163
Claims Analysis
Total Claims: 23
Claim 1
Independent Claim
96 words
A method of performing object detection within a collision warning and countermeasure system comprising: generating an object detection signal; generating an image detection signal; determining at least one center-of-reflection and at least one center-of-intensity in response to said object detection signal and said image detection signal; associating said at least one center-of-intensity with said at least one center-of-reflection; determining difference between said at least one center-of-reflection and said at least one center-of-intensity for a plurality of frames and generating a sensor difference signal; and classifying at least one object in response to said sensor difference signal.
Claim 2
Independent Claim
96 words
A method of performing object detection within a collision warning and countermeasure system comprising: generating an object detection signal; generating an image detection signal; determining at least one center-of-reflection and at least one center-of-intensity in response to said object detection signal and said image detection signal; associating said at least one center-of-intensity with said at least one center-of-reflection; determining difference between said at least one center-of-reflection and said at least one center-of-intensity for a plurality of frames and generating a sensor difference signal; and classifying at least one object in response to said sensor difference signal.
Claim 3
Dependent Claim
21 words
A method as in claim 1 wherein generating an object detection signal comprises performing an upramp sweep and a downramp sweep.
Claim 4
Dependent Claim
22 words
A method as in claim 1 wherein generating an object detection signal comprises determining range and range-rate for at least one object.
Claim 5
Dependent Claim
22 words
A method as in claim 1 wherein generating an object detection signal comprises gating and pairing targets for at least one object.
Claim 6
Dependent Claim
27 words
A method as in claim 1 wherein generating an object detection signal comprises determining relative velocity and relative direction of travel for at least one paired target.
Claim 7
Dependent Claim
24 words
A method as in claim 1 wherein determining at least one center-of-reflection comprises transforming polar coordinates of said object detection signal into Cartesian coordinates.
Claim 8
Dependent Claim
37 words
A method as in claim 1 wherein determining at least one center-of-reflection comprises: performing a perspective transform of said world coordinates into image coordinates; and determining said at least one center-of-reflection in response to said image coordinates.
Claim 9
Dependent Claim
21 words
A method as in claim 1 further comprising determining at least one centroid in response to said at least one center-of-intensity.
Claim 10
Dependent Claim
25 words
A method as in claim 8 wherein determining at least one centroid comprises determining a current frame region-of-interest in response to a prior frame region-of-interest.
Claim 11
Dependent Claim
35 words
A method as in claim 8 wherein determining at least one centroid comprises adjusting size of a current frame region-of-interest in response to a prior frame region-of-interest and in response to said sensor difference signal.
Claim 12
Dependent Claim
50 words
A method as in claim 8 wherein determining at least one centroid comprises: determining whether an object is a false object or a ghost object and generating an error signal; and determining whether to use said sensor difference signal when determining a subsequent region-of-interest in response to said error signal.
Claim 13
Dependent Claim
74 words
A method as in claim 8 further comprising: determining a first set of vectors between said at least one center-of-reflection and said at least one centroid for a prior frame region-of-interest; determining a second set of vectors between said at least one center-of-reflection and at least one updated centroid for a current frame region-of-interest; and generating said sensor difference signal in response to said first set of vectors and said second set of vectors.
Claim 14
Dependent Claim
27 words
A method as in claim 12 wherein generating said sensor difference signal comprises averaging differences between said second set of vectors and said first set of vectors.
Claim 15
Dependent Claim
28 words
A method as in claim 1 wherein generating said sensor difference signal comprises accounting for errors between said at least one center-of-reflection and said at least one center-of-intensity.
Claim 16
Dependent Claim
128 words
A collision warning and countermeasure system for an automotive vehicle comprising: at least one object detection sensor generating an object detection signal; at least one image generating sensor generating an image detection signal; and a controller electrically coupled to said at least one object detection sensor and said at least one image generating sensor, said controller determining at least one center-of-reflection and at least one center-of-intensity in response to said object detection signal and said image detection signal, associating said at least one center-of-intensity with said at least one center-of-reflection, determining difference between said at least one center-of-reflection and said at least one center-of-intensity for a plurality of frames and generating a sensor difference signal, and classifying at least one object in response to said sensor difference signal.
Claim 17
Dependent Claim
128 words
A collision warning and countermeasure system for an automotive vehicle comprising: at least one object detection sensor generating an object detection signal; at least one image generating sensor generating an image detection signal; and a controller electrically coupled to said at least one object detection sensor and said at least one image generating sensor, said controller determining at least one center-of-reflection and at least one center-of-intensity in response to said object detection signal and said image detection signal, associating said at least one center-of-intensity with said at least one center-of-reflection, determining difference between said at least one center-of-reflection and said at least one center-of-intensity for a plurality of frames and generating a sensor difference signal, and classifying at least one object in response to said sensor difference signal.
Claim 18
Dependent Claim
25 words
A system as in claim 15 wherein said object detection sensor in generating said object detection signal performs an upramp sweep and a downramp sweep.
Claim 19
Dependent Claim
33 words
A system as in claim 15 wherein said controller in determining said at least one center-of-reflection gates and pairs targets generated from said radar sensor performing an upramp sweep and a downramp sweep.
Claim 20
Dependent Claim
41 words
A system as in claim 15 wherein said controller determines at least one centroid in response to said at least one center-of-intensity and determines a set of vectors between said at least one center-of reflection and said at least one centroid.
Claim 21
Dependent Claim
43 words
A system as in claim 18 wherein said controller compares differences between said set of vectors and an average distance parameter to determine an updated average distance parameter and determines a subsequent set of regions-of-interest in response to said updated average distance parameter.
Claim 22
Independent Claim
177 words
A method of performing object detection within a collision warning and countermeasure system comprising: generating an object detection signal by performing an upramp sweep and a downramp sweep; generating an image detection signal; determining at least one center-of-reflection and at least one center-of-intensity in response to said object detection signal and said image detection signal; associating said at least one center-of-intensity with said at least one center-of-reflection; determining difference between said at least one center-of-reflection and said at least one center-of-intensity for a plurality of frames and generating a sensor difference signal; determining at least one centroid in response to said center-of-intensity; determining a set of vectors between said at least one center-of-reflection and said at least one centroid; comparing differences between said set of vectors and an average distance parameter to determine an updated average distance parameter; determining a subsequent set of regions-of-interest in response to said updated average distance parameter; determining updated centroids in response to said subsequent set of regions-of-interest; and classifying and tracking at least one object in response to said updated centroids.
Claim 23
Independent Claim
177 words
A method of performing object detection within a collision warning and countermeasure system comprising: generating an object detection signal by performing an upramp sweep and a downramp sweep; generating an image detection signal; determining at least one center-of-reflection and at least one center-of-intensity in response to said object detection signal and said image detection signal; associating said at least one center-of-intensity with said at least one center-of-reflection; determining difference between said at least one center-of-reflection and said at least one center-of-intensity for a plurality of frames and generating a sensor difference signal; determining at least one centroid in response to said center-of-intensity; determining a set of vectors between said at least one center-of-reflection and said at least one centroid; comparing differences between said set of vectors and an average distance parameter to determine an updated average distance parameter; determining a subsequent set of regions-of-interest in response to said updated average distance parameter; determining updated centroids in response to said subsequent set of regions-of-interest; and classifying and tracking at least one object in response to said updated centroids.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
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| 3.5 Years (Year 4) | 2007-12-21 | 2008-06-21 | 2008-12-21 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2011-12-21 | 2012-06-21 | 2012-12-21 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2015-12-21 | 2016-06-21 | 2016-12-21 | $7700.00 | Window Closed / Lapsed |