Automatic curve sensor calibration method for an automotive CW/ICC system
AssigneeDelphi Technologies, Inc.
InventorsStephen William Alland, James Fredrick Searcy
Life of this patent
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Abstract
An improved system for accurately determining the travel path of a host vehicle and the azimuth angle of a target vehicle through an automatic calibration that detects and compensates for FLS mis-alignment and curve sensor drift. Selected FLS tracking data (range and azimuth angle) are transformed to cartesian coordinates and characterized by a second order curve fitting technique to determine both FLS misalignment and curve sensor bias. Successively determined FLS misalignment and curve sensor bias values are averaged and used to correct subsequently supplied azimuth angle and curve sensor data, thereby compensating an underlying control for both sensor misalignment and curve sensor bias.
Claims6
A bias calibration method for a host vehicle system that predicts a travel path of the host vehicle based on vehicle velocity and curve data obtained from a curve sensor subject to bias, the host vehicle including a forward looking sensor that measures range and azimuth angle data of a target forward of the host vehicle, the method comprising the steps of:
- receiving a set of range and azimuth angle data for each of a plurality of successive segments of travel of the host vehicle, and for each received set of range and azimuth angle data:
- computing a lateral distance between the host vehicle and the target based on such range and azimuth angle data and said predicted travel path;
- and
- determining a location point of the target in terms of its measured range and the computed lateral distance;
- processing the determined location points to characterize the calculated lateral distance as a second order function of the measured range, such second order function having a second order coefficient related to a bias of said curve sensor;
- determining the bias of said curve sensor from said second order coefficient;
- and
- adjusting the curve data obtained from said curve sensor based on the determined bias of said curve sensor.
Dependencies are inferred from the claim text.