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

IPC: G01S7/40 ,  G01S13/86 ,  G01S13/60 ,  G01S7/41 ,  G01S13/93 ,  G01S13/00

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.

公开(公告)号：US10037472B1

公开(公告)日：2018-07-31

申请号：US15465296

申请日：2017-03-21

Applicant: Delphi Technologies, Inc.

Inventor： Susan Chen ,  David A. Schwartz ,  Anuradha Mangalgiri ,  Yu Liu ,  Jan Siegemund

IPC: G06K9/00 ,  G06K9/62 ,  G05D1/00 ,  B60Q9/00 ,  G08G1/16

CPC classification number: G06K9/00805 ,  B60W30/00 ,  G01S13/42 ,  G01S13/726 ,  G01S13/867 ,  G01S13/931 ,  G06K9/00798 ,  G06K9/6288 ,  G08G1/166 ,  G08G1/167

Abstract: An object detection system for an automated vehicle includes a radar, a camera, and a controller. The radar detects a cluster of targets characterized by a radar-distance (x) from the host-vehicle. The camera renders an image of an object and a lane-marking present in the area. The controller is configured to determine an equation that is a function of a longitudinal-distance from the host-vehicle and corresponds to the lane-marking, determine a first-optical-angle (θ) based on a first-image-distance between a reference-point on the object and a spot on the image indicated by the equation where the longitudinal-distance is equal to the radar-distance, determine a lateral-distance (Dist_LM) between the object and the lane-marking based on the first-optical-angle and the radar-distance, and determine a first-lateral-offset (yRM) between the object and a longitudinal-axis of the host-vehicle based on the lateral-distance and a first-value of the equation where the longitudinal-distance is equal to the radar-distance.

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

IPC: G05D1/02 ,  G05D1/00 ,  G06F17/50 ,  G06K9/00 ,  G06T7/00 ,  H04N7/18

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.

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

IPC: G01S7/40 ,  G01S13/93

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.