# US 2014/0195075 A1 · System and Method for Testing Crash Avoidance Technologies

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 2014/0195075 A1
- Document ID: US20140195075A1
- Status: Published application
- Kind: A1
- Application number: 14/207,892
- Filed: 2014-03-13
- Published: 2014-07-10
- Earliest claimed: 2011-07-13
- Assignees: Dynamic Research, Inc.
- Applicants: Dynamic Research Inc.
- Inventors: Joseph Kelly; Peter Broen; Jordan Silberling; John Zellner
- Web page: https://patentgrep.com/patent/US20140195075A1

## CPC

- G06F 7/00: Methods or arrangements for processing data by operating upon the order or content of the data handled (logic circuits H03K19/00)
- B60T 7/18: operated by wayside apparatus
- B60T 7/22: initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle {, or by means of contactless obstacle detectors mounted on the vehicle}
- G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes}
- G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection}
- B60T 8/34: having a fluid pressure regulator responsive to a speed condition
- G09B 19/14: Traffic procedures, e.g. traffic regulations
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)
- B60T: VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL (electrodynamic brake systems for vehicle, in general B60L; brakes per se, i.e. devices where braking effect occurs, including ultimate brake actuators, F16D); ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93})
- G09B: EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS (devices for psychotechnics or for testing reaction times A61B5/16; games, sports, amusements A63; projectors, projector screens G03B)

## Abstract

A Guided Soft Target System is disclosed that includes a subject vehicle and a dynamic motion element (DME). The subject vehicle may be accelerated at an arbitrary rate to a speed corresponding to the speed in its own predetermined trajectory. Each of the DME vehicles computes its target speed as a ratio of the subject vehicle's speed at each waypoint location, and modulates its speed control to achieve this target speed. To further compensate for timing differences along the target path, each DME computes its longitudinal error along the path relative to its target position, as dictated by the position of the subject vehicle within its own trajectory, and each DME's target speed is modulated in order to minimize the longitudinal error along the predetermined trajectory.

## Claims

### Claim 1

A Guided Soft Target (GST) system comprising:
a subject vehicle (SV) with a SV position sensor;
a dynamic motion element (DME) with a DME position sensor;
a SV trajectory file representing the trajectory of the SV, comprising an array of SV waypoints and SV speeds;
a DME trajectory file representing the trajectory of the DME, comprising a second array of DME waypoints and DME speeds, each DME waypoint and DME speed corresponds to a SV waypoint and SV speed in the SV trajectory file;
a processor, adapted to perform the following steps:
(a) determine a location of the SV from the SV position sensor and the position of the DME from the DME position sensor;
(b) calculate the position of the SV along trajectory represented by the SV trajectory file and determine the SV waypoint for that position in the SV trajectory file;
(c) determine the corresponding DME waypoint from the DME trajectory file;
(d) calculate the longitudinal error of the DME; and
(e) calculate a speed compensation based on the longitudinal error.

### Claim 2 (depends on 1)

The GST system of claim 1, wherein the subject vehicle comprises a SV speed sensor and the step performed by the processor further comprise:
(f) determine a speed ratio from the SV trajectory file and DME trajectory file for determined DME way point from step (c);
(g) determine the speed of the SV from the SV speed sensor; and
(h) calculate a new DME speed.

### Claim 3 (depends on 2)

The GST system of claim 2, wherein the DME comprises a DME speed sensor and the step performed by the processor further comprise:
(i) determine the speed of the DME from the DME speed sensor; and
(j) calculate velocity control instructions.

### Claim 4 (depends on 1)

The GST system of claim 1, wherein:
the DME further comprises a speed controller connected to a motor that propels a wheel;
the speed controller receives a control instruction from the processor, wherein the instruction is based on the calculation of step (e).

### Claim 5 (depends on 4)

The GST system of claim 4, wherein the controller is connected to a brake that brakes the wheel.

### Claim 6 (depends on 4)

The GST system of claim 4, wherein the instruction comprises an acceleration of the motor.

### Claim 7 (depends on 5)

The GST system of claim 5, wherein the instruction comprises an actuation of the brake.

### Claim 8 (depends on 1)

The GST system of claim 1, wherein the SV trajectory file and the DME trajectory file comprise a single file.

### Claim 9 (depends on 4)

The GST system of claim 4, wherein the control instruction is sent to the DME via a wireless signal.

### Claim 10 (depends on 1)

The GST system of claim 1, wherein the DME comprises a body comprising an upper surface wherein the upper surface is adapted to support a soft-body having the size and shape of a vehicle or a portion of a vehicle, the body having at least one tapered side so as to allow the subject vehicle to drive up to and on the upper surface with minimal to no damage to the subject vehicle or the DME, the body further supported by a plurality of wheels.

### Claim 11

A method of controlling the speed of a dynamic motion element (DME) used in testing a crash avoidance technology of a subject vehicle (SV), the method comprising:
(a) providing a SV trajectory file representing the trajectory of the SV, comprising an array of SV waypoints and SV speeds;
(b) providing a DME trajectory file representing the trajectory of the DME, comprising a second array of DME waypoints and DME speeds, each DME waypoint and DME speed corresponds to a SV waypoint and SV speed in the SV trajectory file;
(c) determining an actual location of the SV and the actual position of the DME;
(d) calculating the position of the SV along trajectory represented by the SV trajectory file and determine the SV waypoint for that position in the SV trajectory file;
(f) determining the corresponding DME waypoint from the DME trajectory file;
(g) calculating the longitudinal error of the DME; and
(h) calculate a speed compensation based on the longitudinal error.

### Claim 12 (depends on 11)

The method of claim 11, further comprising:
(i) determining a speed ratio from the SV trajectory file and DME trajectory file for determined DME way point from step (d);
(j) determining the speed of the SV from the SV speed sensor; and
(k) calculating a new DME speed.

### Claim 13 (depends on 12)

The method of claim 12, further comprising:
(l) determine the speed of the DME from the DME speed sensor; and
(m) calculate velocity control instructions.

### Claim 14 (depends on 11)

The method of claim 11, further comprising sending a controller instruction to the DME.

### Claim 15 (depends on 14)

The method of claim 14, wherein the controller instruction is sent wirelessly.

### Claim 16 (depends on 14)

The method of claim 14, further comprising:
(n) actuating a motor based on the controller instruction.

### Claim 17 (depends on 14)

The method of claim 14, further comprising:
(n) actuating a brake based on the controller instruction.