[특허]Method and system for collision assessment for vehicles

GM Global Technology Operations LLC

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특허 상세정보

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Method and system for collision assessment for vehicles

특허상세정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	G06F-019/00 G06G-007/70 G06G-007/76 G08G-001/00 G08G-001/16 G06G-007/78 G06F-017/10 G08G-009/02
미국특허분류(USC)	701/117; 701/006; 701/014; 701/016; 701/024; 701/025; 701/072; 701/079; 701/116; 701/122
출원번호	US-0816209 (2010-06-15)
등록번호	US-8954260 (2015-02-10)
발명자 / 주소	Gandhi, Daniel Zagorski, Chad T.
출원인 / 주소	GM Global Technology Operations LLC
대리인 / 주소	Ingrassia Fisher & Lorenz, P.C.
인용정보	피인용 횟수 : 1 인용 특허 : 17

초록

Methods and systems are provided for assessing a target proximate a vehicle. A location and a velocity of the target are obtained. The location and the velocity of the target are mapped onto a polar coordinate system via a processor. A likelihood that the vehicle and the target will collide is determined using the mapping.

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1. A method for assessing a target proximate a vehicle, the method comprising the steps of: via a detection unit configured to provide information pertaining to the target; obtaining a location and a velocity of the target and via a processor coupled to the detection unit;mapping the location and the velocity onto a polar coordinate system, wherein a pole of the polar coordinate system comprises a turn center of the vehicle;calculating an estimated time value at which a path of the target is expected to reach a trajectory of the vehicle using the mapping of the location and the velocity onto the polar coordinate system;determining a likelihood that the vehicle and the target will collide using the mapping, based on the calculated estimated time value; determining a velocity component of the target along a radius from the turn center of the vehicle using the velocity; determining a closest portion of the trajectory relative to the target; and calculating a distance between the closest portion of the trajectory relative to the target and the location; wherein the estimated time value is calculated using the velocity component and the distance. 2. The method of claim 1, further comprising the steps of: calculating a second distance between the location and the turn center; anddetermining a turn radius of the vehicle;wherein the step of calculating the distance comprises the step of calculating the distance using the second distance and the turn radius. 3. The method of claim 1, further comprising the steps of: calculating a second estimated time value at which the vehicle will contact the target if the vehicle and the target were to collide, using the mapping; anddetermining that a collision between the vehicle and the target is likely if the estimated time value is less than or equal to the second estimated time value. 4. The method of claim 3, further comprising the steps of: determining a second velocity component of the target that is perpendicular to the radius from the turn center using the velocity; andcalculating a third velocity component of the target that is tangent to the trajectory using the second velocity component;wherein the second estimated time value is calculated using the third velocity component. 5. The method of claim 4, further comprising the steps of: calculating a first angle of the vehicle relative to a polar axis of the polar coordinate system;calculating a second angle of the target relative to the polar axis; andcalculating a third distance between the vehicle and the closest portion using the first angle and the second angle;wherein the second estimated time value is calculated using the third velocity component and the third distance. 6. A method for assessing a target proximate a vehicle, the method comprising the steps of: via a detection unit configured to provide information pertaining to the target; identifying a location and a velocity of the target;and identifying a turn center, a trajectory, and a turn radius of the vehicle and via a processor coupled to the detection unit;calculating a first estimated time value at which the target is expected to reach the trajectory using the location and the velocity;calculating a second estimated time value at which the vehicle will contact the target if the vehicle and the target were to collide using the turn center and the turn radius;determining that a collision between the vehicle and the target is likely if the first estimated time value is less than or equal to the second estimated time value;obtaining a velocity component of the target along a radius from the turn center; calculating a distance between the target and the turn center; calculating a second distance between the target and a closest portion of the trajectory with respect to the target using the distance and the turn radius; obtaining a second velocity component of the target that is perpendicular to the radius from the turn center; calculating a third velocity component of the target that is tangent to the trajectory using the second velocity component; calculating a first angle of the vehicle relative to a polar axis; calculating a second angle of the target relative to the polar axis; and calculating a third distance between the vehicle and the closest portion using the first angle and the second angle; wherein the first estimated time value is calculated using the third velocity component and the third distance. 7. A system for assessing a target proximate a vehicle, the system comprising: a detection unit configured to provide information pertaining to a location and a velocity of the target; anda processor coupled to the detection unit and configured to: map the location and the velocity onto a polar coordinate system, generating a mapping, wherein a pole of the polar coordinate system comprises a turn center of the vehicle;calculate an estimated time value at which a path of the target is expected to reach a trajectory of the vehicle using the mapping of the location and the velocity onto the polar coordinate system;determine a likelihood that the vehicle and the target will collide using the mapping, based on the calculated estimated time value;identify a velocity component of the target along a radius from the turn center of the vehicle using the velocity; determine a closest portion of the trajectory with respect to the target; calculate a distance between the closest portion of the trajectory with respect to the target and the location; and calculate the estimated time value using the velocity component and the distance. 8. The system of claim 7, wherein the processor is further configured to: calculate a second distance between the location and the turn center;determine a turn radius of the vehicle; andcalculate the distance using the second distance and the turn radius. 9. The system of claim 7, wherein the processor is further configured to: calculate a second estimated time value at which the vehicle will contact the target if the vehicle and the target were to collide using the mapping; anddetermine that a collision between the vehicle and the target is likely if the estimated time value is less than or equal to the second estimated time value. 10. The system of claim 9, wherein the processor is further configured to: identify a second velocity component of the target that is perpendicular to the radius from the turn center using the velocity;calculate a third velocity component of the target that is tangent to the trajectory using the second velocity component; andcalculate the second estimated time value using the third velocity component. 11. The system of claim 10, wherein the processor is further configured to: calculate a first angle of the vehicle relative to a polar axis of the polar coordinate system;calculate a second angle of the target relative to the polar axis; calculate a third distance between the vehicle and the closest portion using the first angle and the second angle; andcalculate the second estimated time value using the third velocity component and the third distance. 12. The system of claim 7, further comprising: an alert generator coupled to the processor and configured to provide an alert based on the likelihood that the vehicle and the target will collide.

이 특허에 인용된 특허 (17)

이 특허를 인용한 특허 피인용횟수: 1

Zinner, Helge; Frament, Olivier. Method and device for determining a driving state of an external motor vehicle. USP20190410246092.

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Method and system for collision assessment for vehicles

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Method and system for collision assessment for vehicles

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