US 12,736,667 B2Granted

Obstruction detection for a vehicle

AssigneeFord Global Technologies, LLC

InventorsMahmoud Yousef Ghannam, Vivekanandh Elangovan, John Robert Van Wiemeersch, Nicholas Colella

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Abstract

A detection system for a vehicle includes at least one time-of-flight device configured to capture positional information about cargo in the vehicle and an obstruction outside the vehicle. Control circuitry is in communication with the at least one time-of-flight device. The control circuitry is configured to determine a location of the obstruction relative to a rear of the vehicle, calculate a length of at least one overhang of the cargo based on the positional information, estimate a lateral position of the at least one overhang based on the positional information, determine at least one endpoint of the cargo based on the lateral position and the length, determine at least one potential contact point between the cargo and the obstruction based on the location and the at least one endpoint, and generate an output based on the at least one potential contact point.

Claims15

Dependent claims

A detection system for a vehicle, comprising:

a plurality of RADAR modules disposed along the rear of the vehicle and configured to capture positional information about cargo in the vehicle and an obstruction outside the vehicle, wherein the plurality of RADAR modules includes a first RADAR module aligned with a driver side of the rear, a second RADAR module aligned with a passenger side of the rear, and a third RADAR module disposed between the first and second RADAR modules and disposed above or below each of the first and second RADAR modules;
a steering system that adjusts a steering angle of the vehicle;
control circuitry in communication with the plurality of RADAR modules, the control circuitry configured to:
determine a location of the obstruction relative to a rear of the vehicle;
calculate a length of at least one overhang of the cargo based on the positional information, wherein the cargo includes a first object and a second object;
estimate a lateral position of the at least one overhang based on the positional information;
determine a first endpoint for the first object based on a first length and a first lateral position of a first overhang of the first object;
determine a second endpoint for the second object based on a second length and a second lateral position of a second overhang of the second object;
determine a first potential contact point between the first object and the obstruction based on the first endpoint;
determine a second potential contact point between the second object and the obstruction based on the second endpoint;
compare the first potential contact point with the second potential contact point and determine a proximity of the cargo to at least one of the first potential contact point and the second potential contact point;
determine a clearance zone between the first and second potential contact points based on the location of the obstruction;
and
generate an output based on at least one of the potential contact points;
and
a display in communication with the control circuitry and configured to present an indication including instructions indicating the clearance zone to guide a user in controlling the vehicle to limit contact with the obstruction.

13 more elements

A detection system for a vehicle, comprising:

a plurality of RADAR modules disposed along the rear of the vehicle and configured to capture positional information about cargo in the vehicle and an obstruction outside the vehicle, wherein the plurality of RADAR modules includes a first RADAR module aligned with a driver side of the rear, a second RADAR module aligned with a passenger side of the rear, and a third RADAR module disposed between the first and second RADAR modules and disposed above or below each of the first and second RADAR modules;
a steering system that adjusts a steering angle of the vehicle;
a brake system that adjusts a speed of the vehicle;
and
control circuitry in communication with the plurality of RADAR modules and the brake system, the control circuitry configured to:
determine a location of the obstruction relative to a rear of the vehicle;
calculate a length of at least one overhang of the cargo based on the positional information, wherein the cargo includes a first object and a second object;
estimate a lateral position of the at least one overhang along a width of the vehicle based on the positional information;
determine a first endpoint for the first object based on a first length and a first lateral position of a first overhang of the first object;
determine a second endpoint for the second object based on a second length and a second lateral position of a second overhang of the second object;
determine a first potential contact point between the first object and the obstruction based on the first endpoint;
determine a second potential contact point between the second object and the obstruction based on the second endpoint;
compare the first potential contact point with the second potential contact point and determine a proximity of the cargo to at least one of the first potential contact point and the second potential contact point;
determine a clearance zone between the first and second potential contact points based on the location of the obstruction;
communicate an instruction to adjust the speed of the vehicle in response to the proximity;
and
communicate an instruction to adjust the steering angle of the vehicle based on the first and second potential contact points and the clearance zone, and further to adjust the steering to provide for a position in which the obstruction is in the clearance zone.

14 more elements

A vehicle, comprising:

a brake system that adjusts a speed of the vehicle;
a steering system that adjusts a steering angle of the vehicle;
a plurality of RADAR modules disposed along the rear of the vehicle and configured to capture positional information about cargo in the vehicle and an obstruction outside the vehicle, wherein the plurality of RADAR modules includes a first RADAR module aligned with a driver side of the rear, a second RADAR module aligned with a passenger side of the rear, and a third RADAR module disposed between the first and second RADAR modules and disposed above or below each of the first and second RADAR modules;
and
control circuitry in communication with the plurality of RADAR modules, the brake system, and the steering system, the control circuitry configured to:
determine a location of the obstruction relative to a rear of the vehicle;
calculate a length of at least one overhang of the cargo based on the positional information, wherein the cargo includes a first object and a second object;
estimate a lateral position of at least one overhang based on the positional information;
determine a first endpoint for the first object based on a first length and a first lateral position of a first overhang of the first object;
determine a second endpoint for the second object based on a second length and a second lateral position of a second overhang of the second object;
determine a first potential contact point between the first object and the obstruction based on the first endpoint;
determine a second potential contact point between the second object and the obstruction based on the second endpoint;
identify a gap within at least one of the overhangs based on the positional information;
determine a clearance zone between the first and second potential contact points based on the location of the obstruction, wherein the clearance zone includes the gap;
communicate an instruction to adjust the speed of the vehicle based on the first and second potential contact points;
and
communicate an instruction to adjust the steering angle of the vehicle based on the first and second potential contact points and the clearance zone, and further to adjust the steering to provide for a position in which the obstruction is in the clearance zone.

14 more elements

Dependencies are inferred from the claim text.