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公开(公告)号：US10114106B2
公开(公告)日：2018-10-30
申请号：US15216866
申请日：2016-07-22
Applicant: DELPHI TECHNOLOGIES, INC.
Inventor： Jan K. Schiffmann , Yu Liu , David A. Schwartz , Xumin Zhu
Abstract: In accordance with one embodiment, a radar system with auto-alignment suitable for use in an automated vehicle is provided. The system includes a radar-sensor, a speed-sensor, and a controller. The radar-sensor is used to detect objects present in a field-of-view proximate to a host-vehicle on which the radar-sensor is mounted. The radar-sensor is operable to determine a measured-range-rate (dRm), a measured-azimuth-angle (Am), and a measured-elevation-angle (Em) to each of at least three objects present in the field-of-view. The speed-sensor is used to determine a measured-speed (Sm) of the host-vehicle. The controller is in communication with the radar-sensor and the speed-sensor. The controller is configured to simultaneously determine a speed-scaling-error (Bs) of the measured-speed, an azimuth-misalignment (Ba) of the radar-sensor, and an elevation-misalignment (Be) of the radar-sensor based on the measured-range-rate, the measured-azimuth-angle, and the measured-elevation-angle to each of the at least three objects, while the host-vehicle is moving.
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公开(公告)号：US09983301B2
公开(公告)日：2018-05-29
申请号：US14873815
申请日：2015-10-02
Applicant: DELPHI TECHNOLOGIES, INC.
Inventor： Yu Liu , Jan K. Schiffmann
CPC classification number: G01S13/42 , B60T2250/03 , G01S7/295 , G01S13/58 , G01S13/60 , G01S13/66 , G01S13/72 , G01S13/726 , G01S13/931 , G01S2013/9375 , G01S2013/9382
Abstract: A radar system suitable for an automated vehicle includes a radar sensor and a controller. The radar-sensor is mounted on a host-vehicle. The radar-sensor is operable to detect radar-signals reflected by scattering-points of a target-vehicle located proximate to the host-vehicle. The controller is in communication with the radar-sensor. The controller is configured to determine a present-range-rate, a present-azimuth, and optionally a present-range, of each of the scattering-points at a present-time. The controller is also configured to recall a prior-range-rate, a prior-azimuth, and optionally a prior-range, of each of the scattering-points at a prior-time. The controller is also configured to calculate a yaw-rate of the target-vehicle at the present-time based on the present-range-rate, the present-azimuth, the prior-range-rate, and the prior-azimuth, and optionally the present-range and the prior-range, of each of the scattering-points.
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Patent Agency Ranking
公开(公告)号：US20170206436A1
公开(公告)日：2017-07-20
申请号：US15000730
申请日：2016-01-19
Applicant: DELPHI TECHNOLOGIES, INC.
Inventor： Jan K. Schiffmann
CPC classification number: G06K9/6215 , B60R1/00 , B60R2300/301 , G01S13/42 , G01S13/582 , G01S13/584 , G01S13/66 , G01S13/726 , G01S13/867 , G01S13/931 , G06K9/00791
Abstract: An object tracking system suitable for use on an automated vehicle includes a camera, a radar-sensor and a controller. The controller is configured to assign a vision-identification to each vision-track associated with an instance of an object detected using the camera, and assign a radar-identification to each radar-glob associated with an instance of grouped-tracklets indicated detected using the radar-sensor. The controller is further configured to determine probabilities that a vision-track and a radar-glob indicate the same object. If the combination has a reasonable chance of matching it is includes in a further screening of the data to determine a combination of pairings of each vision-track to a radar-track that has the greatest probability of being the correct combination.
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公开(公告)号：US20180067494A1
公开(公告)日：2018-03-08
申请号：US15255737
申请日：2016-09-02
Applicant: DELPHI TECHNOLOGIES, INC.
Inventor： Jan K. Schiffmann , David A. Schwartz
CPC classification number: G05D1/0231 , B60W30/12 , G01S7/4802 , G01S17/89 , G01S17/936 , G05D1/0088 , G06F17/5009 , G06K9/00798 , G06K2209/40 , G06T7/70 , G06T2207/10028 , H04N7/183
Abstract: A road-model-definition system suitable for an automated-vehicle includes a camera, a lidar-unit, and a controller. The camera used is to provide an image of an area proximate to a host-vehicle. The lidar-unit is used to provide a point-cloud descriptive of the area. The controller is in communication with the camera and the lidar-unit. The controller is configured to determine an image-position of a lane-marking in the image, select ground-points from the point-cloud indicative of a travel-surface, determine coefficients of a three-dimensional (3D) road-model based on the ground-points, and determine a transformation to map the lane-marking in the image onto the travel-surface based on the image-position of a lane-marking and the 3D road-model and thereby obtain a 3D marking-model.
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公开(公告)号：US09810782B2
公开(公告)日：2017-11-07
申请号：US14664420
申请日：2015-03-20
Applicant: DELPHI TECHNOLOGIES, INC.
Inventor： Jan K. Schiffmann
CPC classification number: G01S13/931 , G01S7/415 , G01S13/87 , G01S2013/9317 , G01S2013/9332 , G01S2013/9378 , G01S2013/9385
Abstract: A radar system suitable for use on a vehicle and configured to detect a false radar-track arising from a reflection of a radar return from a target includes a first sensor, a second sensor, and a controller. The first sensor outputs a first signal indicative of a first target in a first area proximate to a vehicle. The second sensor outputs a second signal indicative of a second target in a second area proximate to the vehicle and different from the first area. The controller receives the first signal and the second signal. The controller determines that the second target is a reflection of the first target when a reflection-line that bisects and extends orthogonally from a line-segment extending between the first target and the second target intersects with a reflection surface detected by the second sensor.
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6.发明申请公开(公告)号：US20180024228A1
公开(公告)日：2018-01-25
申请号：US15216866
申请日：2016-07-22
Applicant: DELPHI TECHNOLOGIES, INC.
Inventor： Jan K. Schiffmann , Yu Liu , David A. Schwartz , Xumin Zhu
CPC classification number: G01S7/4026 , G01S7/415 , G01S13/60 , G01S13/86 , G01S13/931 , G01S2007/403 , G01S2007/4034 , G01S2007/4091 , G01S2013/9342 , G01S2013/9346 , G01S2013/935 , G01S2013/9353 , G01S2013/9375
Abstract: In accordance with one embodiment, a radar system with auto-alignment suitable for use in an automated vehicle is provided. The system includes a radar-sensor, a speed-sensor, and a controller. The radar-sensor is used to detect objects present in a field-of-view proximate to a host-vehicle on which the radar-sensor is mounted. The radar-sensor is operable to determine a measured-range-rate (dRm), a measured-azimuth-angle (Am), and a measured-elevation-angle (Em) to each of at least three objects present in the field-of-view. The speed-sensor is used to determine a measured-speed (Sm) of the host-vehicle. The controller is in communication with the radar-sensor and the speed-sensor. The controller is configured to simultaneously determine a speed-scaling-error (Bs) of the measured-speed, an azimuth-misalignment (Ba) of the radar-sensor, and an elevation-misalignment (Be) of the radar-sensor based on the measured-range-rate, the measured-azimuth-angle, and the measured-elevation-angle to each of the at least three objects, while the host-vehicle is moving.
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公开(公告)号：US20170097410A1
公开(公告)日：2017-04-06
申请号：US14873815
申请日：2015-10-02
Applicant: DELPHI TECHNOLOGIES, INC.
Inventor： Yu Liu , Jan K. Schiffmann
CPC classification number: G01S13/42 , B60T2250/03 , G01S7/295 , G01S13/58 , G01S13/60 , G01S13/66 , G01S13/72 , G01S13/726 , G01S13/931 , G01S2013/9375 , G01S2013/9382
Abstract: A radar system suitable for an automated vehicle includes a radar sensor and a controller. The radar-sensor is mounted on a host-vehicle. The radar-sensor is operable to detect radar-signals reflected by scattering-points of a target-vehicle located proximate to the host-vehicle. The controller is in communication with the radar-sensor. The controller is configured to determine a present-range-rate, a present-azimuth, and optionally a present-range, of each of the scattering-points at a present-time. The controller is also configured to recall a prior-range-rate, a prior-azimuth, and optionally a prior-range, of each of the scattering-points at a prior-time. The controller is also configured to calculate a yaw-rate of the target-vehicle at the present-time based on the present-range-rate, the present-azimuth, the prior-range-rate, and the prior-azimuth, and optionally the present-range and the prior-range, of each of the scattering-points.
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