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：US20180203124A1

公开(公告)日：2018-07-19

申请号：US15407419

申请日：2017-01-17

Applicant: Delphi Technologies, Inc.

Inventor： Izzat H. Izzat ,  Susan Chen

IPC: G01S17/93 ,  G01S17/89 ,  G01S13/86

CPC classification number: G01S17/936 ,  G01S13/865 ,  G01S17/42 ,  G01S17/89

Abstract: An object detection system includes a lidar-unit and a controller. The controller defines an occupancy-grid that segregates the field-of-view into columns, determine a first-occupancy-status of a column based on first-cloud-points detected by the lidar-unit in the column by a first-scan, determine a second-occupancy-status of the column based second-cloud-points detected in the column by a second-scan, determine a first-number of the first-cloud-points and a second-number of the second-cloud-points, and determine a dynamic-status of the column only if the column is classified as occupied by either the first-occupancy-status or the second-occupancy-status. The dynamic-status of the column is determined to be moving when a count-difference between the first-number and the second-number is greater than a difference-threshold, and the dynamic-status of the column is determined to be static when the count-difference is not greater than the difference-threshold and a registration-factor that aligns the first-cloud-points to the second-cloud-points is less than a registration-threshold.