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公开(公告)号：WO0221156A2
公开(公告)日：2002-03-14
申请号：PCT/US0142065
申请日：2001-09-07
Applicant: RAYTHEON CO
Inventor： RUSSELL MARK E , DELCHECCOLO MICHAEL JOSEPH , FIRDA JOHN M
CPC classification number: G05D1/0257 , B60W2520/14 , G01S13/931 , G01S2013/9353 , G05D1/027 , G05D2201/0213
Abstract: There is disclosed herein a method for detecting objects in a predicted path of a host vehicle moving on a highway lane. The method is for use in a system including a forward looking sensor, preferably a radar system, for providing range, angle and velocity data for objects within a field of view in front of the host vehicle, measuring systems for providing velocity and yaw rate data for the host vehicle, and a processing system responsive to the forward looking sensor and the measuring systems. The method includes the unordered steps of (a) calculating an estimated path of the host vehicle based on its velocity and yaw rate; (b) calculating estimated paths for each of the objects; (c) determining the lateral distance of each object from the predicted path of the host vehicle; and (d) classifying each object as either in or out of the highway lane of the host vehicle. The method includes processes for detecting lane changes by the host vehicle and for generating alternative path hypotheses in response to target deviations from the predicted paths.
Abstract translation: 这里公开了一种用于检测在公路车道上移动的主车辆的预测路径中的物体的方法。 该方法用于包括前视传感器，优选雷达系统的系统中，用于为主车辆前方的视场内的对象提供范围，角度和速度数据，用于提供速度和偏航速率数据的测量系统 以及响应于前视传感器和测量系统的处理系统。 该方法包括以下步骤：（a）基于其速度和偏航率计算主车辆的估计路径; （b）计算每个物体的估计路径; （c）确定每个物体与本车辆的预测路径的横向距离; 和（d）将每个物体分类为在本车辆的公路车道内或外。 该方法包括用于检测主车辆的车道变化并响应于来自预测路径的目标偏差产生替代路径假设的过程。
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公开(公告)号：AU9129901A
公开(公告)日：2002-03-22
申请号：AU9129901
申请日：2001-09-07
Applicant: RAYTHEON CO
Inventor： RUSSELL MARK E , DELCHECCOLO MICHAEL JOSEPH , FIRDA JOHN M
Abstract: There is disclosed herein a method for detecting objects in a predicted path of a host vehicle moving on a highway lane. The method is for use in a system including a forward looking sensor, preferably a radar system, for providing range, angle and velocity data for objects within a field of view in front of the host vehicle, measuring systems for providing velocity and yaw rate data for the host vehicle, and a processing system responsive to the forward looking sensor and the measuring systems. The method includes the unordered steps of (a) calculating an estimated path of the host vehicle based on its velocity and yaw rate; (b) calculating estimated paths for each of the objects; (c) determining the lateral distance of each object from the predicted path of the host vehicle; and (d) classifying each object as either in or out of the highway lane of the host vehicle. The method includes processes for detecting lane changes by the host vehicle and for generating alternative path hypotheses in response to target deviations from the predicted paths.
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