초록 ▼

This disclosure relates to a system for automatically measuring and compensating for any angle of misalignment of a forward-looking sensor of a vehicle. The sensor provides data representing the azimuth angle and the range of a target such as another vehicle. For each angle and range reading of the

This disclosure relates to a system for automatically measuring and compensating for any angle of misalignment of a forward-looking sensor of a vehicle. The sensor provides data representing the azimuth angle and the range of a target such as another vehicle. For each angle and range reading of the sensor, the location point of the target is estimated; after a series of such readings, the trajectory line of the target is estimated. The angle of misalignment is estimated from the angle between the trajectory line and the path of travel of the host vehicle. In subsequent readings of the sensor, the estimated angle of misalignment is subtracted from the measured azimuth angle to produce an accurate azimuth angle of the target. The accurate azimuth angle is provided for use by another unit such as a collision warning system and/or an intelligent cruise control.

대표청구항 ▼

[ What is claimed is:] [1.] A method of automatically determining the angle of alignment of a forward looking sensor mounted on a host vehicle relative to the path of travel of the host vehicle while the host vehicle is traveling on a road adjacent a target, the sensor making periodic sensor reading

[ What is claimed is:] [1.] A method of automatically determining the angle of alignment of a forward looking sensor mounted on a host vehicle relative to the path of travel of the host vehicle while the host vehicle is traveling on a road adjacent a target, the sensor making periodic sensor readings and each reading including a set of range and azimuth angle measurements of the target, the host vehicle further including a path prediction unit which provides host path data representative of the direction of travel of the host vehicle, said method comprising the steps of:a) receiving a plurality of said sensor readings at time intervals over a segment of the road;b) for each of said readings, determining the location point of the target based on the range and azimuth angle data;c) from the location point determinations for a plurality of said sensor readings, determining the trajectory line of said target; andd) From said trajectory line and from said direction of travel of said host vehicle, determining any misalignment angle of said sensor relative to said direction of travel.