Rear Collision Warning Tracking Using Stable Vehicle Reference Points
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Solution Overview
Problem
Existing rear cross traffic alert (RCTA) systems face challenges in accurately tracking the position of a target vehicle as it moves from the front to the rear surface of the subject vehicle, leading to potential errors in collision warnings due to shifting tracking points and radar sensor inaccuracies.
Innovation Solution
A method and apparatus that utilize radar sensors to determine a reference point on the target vehicle, calculate overall lengths, and compare these lengths over time to detect tracking errors, adjusting the collision warning based on the difference between these lengths and variation trends to ensure accurate positioning and timely warnings.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If radar sensors are used to track the target vehicle position, then the collision warning system can detect the target vehicle, but the tracking point shifts from the front surface to the rear surface of the target vehicle leading to position errors
Solution Approach 1:
The system pre-establishes a reference position of the target vehicle when first detected and maintains this reference position throughout tracking, rather than continuously updating to shifting radar detection points. This preliminary action compensates for the inherent radar tracking drift as the target vehicle moves through different aspects relative to the sensor.
Solution Approach 2:
The system creates a virtual copy of the target vehicle's position based on the established reference point, rather than relying on the actual shifting radar detection points. This copied position information remains stable and accurate for collision warning determination, eliminating the errors caused by radar tracking point migration.
2Speed
If the tracking point is updated continuously as the target vehicle moves, then the system can follow the target vehicle, but the position of the tracking point shifts leading to errors in collision warnings
Solution Approach 1:
The system extracts only the essential initial position information of the target vehicle and separates this from the continuous but erroneous radar tracking data. By taking out the reference position establishment function from the continuous tracking loop, the system avoids incorporating the shifting tracking point errors while maintaining awareness of target vehicle presence.
3Reliability
If the collision warning is cancelled when the tracking point moves to the rear surface of the target vehicle, then the system reduces false warnings, but premature cancellation occurs due to tracking errors
Solution Approach 1:
The system establishes a reference position early in the tracking process and uses this predetermined reference for the entire warning duration. This preliminary position establishment prevents premature cancellation by providing a stable positional basis that doesn't erroneously indicate target vehicle departure when the tracking point shifts to the rear surface.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enhances the accuracy of collision warnings by correcting for radar sensor errors, maintaining warnings when necessary, and preventing premature cancellation, thereby improving safety in rear collision scenarios.
Implementation Method 1
a radar sensor that detects a target vehicle approaching from a left or right side behind the subject vehicle
Data Source
Figure 1
Figure 2A~2B
Figure 2C~2D
AI summary
Disclosed is a collision warning control apparatus that obtains position and speed information of a reference point for a target vehicle at a first time point, determines a position of the reference point at a second time point based on the position and speed information of the reference point for the target vehicle at the first time point, calculates a first overall length of the target vehicle based on the position of the reference point at the second time point, determines a position of the reference point at a third time point, and calculates a second overall length of the target vehicle. The apparatus determines a reference position of the target vehicle at the third time point based on a difference between the first overall length and the second overall length, and controls collision warning for the target vehicle based on the reference position of the target vehicle.