公开(公告)号：EP2159779B1

公开(公告)日：2013-01-16

申请号：EP08163084.0

申请日：2008-08-27

申请人： SAAB AB

发明人： Molander, Sören ,  Jonsson, Jimmy

IPC分类号： G01S11/12 ,  G01S5/16 ,  G08G5/04

CPC分类号： G01S11/12 ,  G01S3/7864 ,  G01S5/16 ,  G08G5/045

公开(公告)号：EP2159779A1

公开(公告)日：2010-03-03

申请号：EP08163084.0

申请日：2008-08-27

申请人： SAAB AB

发明人： Molander, Sören ,  Jonsson, Jimmy

IPC分类号： G08G5/04

CPC分类号： G01S11/12 ,  G01S3/7864 ,  G01S5/16 ,  G08G5/045

摘要： The present invention provides a collision avoidance system (5) for deciding whether an autonomous avoidance manoeuvre should be performed in order to avoid a mid-air collision between a host aerial vehicle (1) equipped with the system (5) and an intruding aerial vehicle.
The system comprises at least one electro-optical sensor (3) for capturing consecutive images of an intruding vehicle such that the vehicle manifests itself as a target point in said images. It also comprises image processing means (7) for estimating the azimuth angle, elevation angle and a first time-to-collision estimate of the time to collision between the host vehicle and the intruding vehicle. The first time-to-collision estimate is estimated based on scale change in the target point between at least two of said consecutive images. The system (5) further comprises a tracking filter (12) which is arranged to estimate a second time-to-collision estimate using the azimuth angle, the elevation angle and the first time-to-collision estimate estimated by the image processing means (7) as input parameters. Furthermore, the system (5) comprises collision avoidance means (15) arranged to decide whether or not an avoidance manoeuvre should be performed based on any of at least one parameter, of which at least one is indicative of said second time-to-collision estimate.
By using the first time-to-collision estimates from the image processing means (7) as input parameters to the tracking filter (12), the uncertainty in the second time-to-collision estimates outputted by the filter is reduced. By allowing the decision as to whether or not an avoidance manoeuvre should be performed to be based on said second time-to-collision estimates, a safe and robust collision avoidance system (5) is provided.

摘要翻译： 本发明提供了一种防撞系统（5），用于决定是否自主回避操作应以避免宿主飞行器之间的空中碰撞来执行的（1）配备有系统（5），并在侵入飞行器 ， 该系统包括用于捕获检查的侵入车辆的连续图像所做的车辆本身表现为在所述图像中的目标点的至少一个光电传感器（3）。 因此，它包括图像处理装置（7），用于估计方位角，仰角和第一时间 - 碰撞估计的时间到主车辆与车辆侵入之间的碰撞。 在第一时间 - 碰撞估计是基于在至少两个所述连续图像之间的目标点尺度变化估计。 该系统（5）还包括被布置成使用方位角，仰角和所述第一时间 - 碰撞估计由图像处理装置估计来估计第二时间 - 碰撞估计跟踪滤波器（12）的所有（ 7）作为输入参数。 进一步，该系统（5）包括被布置来决定是否要回避操作防撞装置（15）应基于任何的至少一个参数来进行，其中至少一个指示所述第二时间 - 碰撞的 估计。 通过使用所述第一时间 - 碰撞估计从图像处理装置（7）作为输入参数提供给跟踪滤波器（12）的结果，在第二时间 - 碰撞的不确定性估计由滤波器输出的降低。 通过允许决定是否或不避让动作应进行基于上述第二时间会发生碰撞的估计，提供了一种安全可靠的防撞系统（5）。