Granted Patent B2

US 9,830,814 · App. 15/198,600 · Granted Nov 28, 2017

Abstract

Claims (47)

1. A motor vehicle system for generating and transmitting detected object attributes, comprising:

a communication system module positioned in a host vehicle receiving vehicle attribute data and preparing a fused object attribute data for transmission to a target vehicle;

a vehicle track data sub-module of the communication system module used to independently track at least one sensed vehicle and the target vehicle;

an object detection and classification system module having a 3D object detection module used to identify a vehicle type of the at least one sensed vehicle and the target vehicle defined at least by a vehicle size and to generate an object attribute data; and

a target fusion module receiving the object attribute data from the object detection and classification system module, fusing the object attribute data with the vehicle attribute data to create the fused object attribute data, and forwarding the fused object attribute data to the communication system module for transmission;

a decision module in communication with both the vehicle track data sub-module and the object detection and classification system module, wherein the vehicle attribute data is tracked by the vehicle track data sub-module and compared to the object attribute data generated in the object detection and classification system module; and

a track data generator module, wherein when the vehicle attribute data tracked by the vehicle track data sub-module is not coincident with the object attribute data, the vehicle attribute data is communicated directly to the track data generator module where a situational awareness of the vehicle attribute data is monitored.

2. The system for generating and transmitting detected object attributes of claim 1 , further including a message standard module acting to format data from the track data generator module prior to transmission.

3. The system for generating and transmitting detected object attributes of claim 1 , wherein the communication system module includes a data transfer sub-module transmitting the vehicle attribute data to at least the target vehicle.

4. The system for generating and transmitting detected object attributes of claim 1 , wherein the object detection and classification system module includes an object classification sub-module acting to distinguish the at least one sensed vehicle from a pedestrian.

5. The system for generating and transmitting detected object attributes of claim 1 , wherein the object detection and classification system module includes a stereo matching sub-module to perform stereo imaging of the at least one sensed vehicle and the target vehicle present in a host vehicle predefined sensing and transmission window.

6. The system for generating and transmitting detected object attributes of claim 1 , wherein the object detection and classification system module includes an object range map created using distance measurements and tracking computations for each of the at least one sensed vehicle and the target vehicle.

7. The system for generating and transmitting detected object attributes of claim 6 , wherein the object detection and classification system module includes a road geometry sub-module wherein the object attribute data from the object range map is compared to a highway geometry provided from a GPS database.

8. The system for generating and transmitting detected object attributes of claim 1 , wherein the object detection and classification system module includes a three-dimensional (3D) object detection sub-module wherein the object attribute data is modified to provide 3D geometry for each of the at least one sensed vehicle and the target vehicle.

9. The system for generating and transmitting detected object attributes of claim 8 , wherein the object detection and classification system module includes a 3D object track list created for each of the at least one sensed vehicle and the target vehicle.

10. The system for generating and transmitting detected object attributes of claim 9 , wherein the object detection and classification system module includes a range estimation sub-module, wherein a distance (range) of the at least one sensed vehicle and the target vehicle with respect to the host vehicle is identified and tracked.

11. The system for generating and transmitting detected object attributes of claim 8 , wherein the object detection and classification system module includes an object classification sub-module wherein 3D information identified by the 3D object detection sub-module is compared to a geometry of the at least one sensed vehicle and the target vehicle saved in a memory.

12. The system for generating and transmitting detected object attributes of claim 1 , further including a data modifier module generating coincidences and covariances included with the fused object attribute data.

13. A motor vehicle system for generating and transmitting detected object attributes, comprising:

a communication system module positioned in a host vehicle receiving vehicle attribute data from a target vehicle and at least one sensed vehicle and preparing an object attribute data for transmission to the target vehicle;

a vehicle track data sub-module of the communication system module used to independently track the at least one sensed vehicle and the target vehicle and the vehicle attribute data;

an object detection and classification system module in communication with the vehicle track data sub-module and having a 3D object detection module used to identify a vehicle type of the target vehicle and the at least one sensed vehicle defined at least by a vehicle size;

a decision module in communication with both the vehicle track data sub-module and the object detection and classification system module, wherein the vehicle attribute data being tracked by the vehicle track data sub-module is compared to the object attribute data generated in the object detection and classification system module;

a target fusion module receiving the object attribute data from the object detection and classification system module, fusing the object attribute data from the object detection and classification system module with the vehicle attribute data to create the fused object attribute data, and forwarding the fused object attribute data to the communication system module for transmission; and

a track data generator module, wherein when the vehicle attribute data tracked by the vehicle track data sub-module is not coincident with the object attribute data, the vehicle attribute data is communicated directly to the track data generator module where a situational awareness of the vehicle attribute data is monitored.

14. The system for generating and transmitting detected object attributes of claim 13 , wherein the object detection and classification system module includes:

a stereo matching sub-module to perform stereo imaging of the at least one sensed vehicle and the target vehicle present in a host vehicle predefined sensing and transmission window;

an object range map created using distance measurements and tracking computations for each of the at least one sensed vehicle and the target vehicle; and

a road geometry sub-module wherein object attribute data from the object range map is compared to a highway geometry provided from a GPS database.

15. The system for generating and transmitting detected object attributes of claim 13 , wherein the object detection and classification system module includes:

a 3D object track list created for each of the at least one sensed vehicle and the target vehicle; and

a range estimation sub-module for identifying and tracking distances (ranges) of the at least one sensed vehicle and the target vehicle relative to the host vehicle.

16. The system for generating and transmitting detected object attributes of claim 13 , wherein the object detection and classification system module includes:

an object classification sub-module wherein 3D information identified by the 3D object detection sub-module is compared to a geometry of the at least one sensed vehicle and the target vehicle saved in a memory; and

a class confidence sub-module for checking an object classification on a predefined periodic basis to identify a class confidence level.

17. The system for generating and transmitting detected object attributes of claim 13 , wherein the object detection and classification system module includes:

a range estimation sub-module for identifying and tracking distances (ranges) of the at least one sensed vehicle and the target vehicle relative to the host vehicle;

a class confidence sub-module for checking an object classification on a predefined periodic basis to identify a class confidence level; and

a pedestrian and vehicle detection sub-module to analyze the information from both the class confidence sub-module and the information from the range estimation sub-module.

18. A method for generating and transmitting detected object attributes, comprising:

positioning a communication system module in a host vehicle receiving vehicle attribute data from a target vehicle and at least one sensed vehicle and preparing a fused object attribute data for transmission to the target vehicle;

independently tracking the target vehicle and the at least one sensed vehicle using a vehicle track data sub-module of the communication system module;

identifying a vehicle type of the at least one sensed vehicle defined at least by a vehicle size using an object detection and classification system module having a 3D object detection module;

placing a decision module in communication with both the vehicle track data sub-module and the object detection and classification system module, wherein the vehicle attribute data is tracked by the vehicle track data sub-module and compared to the object attribute data generated in the object detection and classification system module;

when the vehicle attribute data is not coincident with the object attribute data, communicating the vehicle attribute data directly to the track data generator module where a situational awareness of the vehicle attribute data is monitored;

fusing the object attribute data from the object detection and classification system module with the vehicle attribute data using a target fusion module to create the fused object attribute data; and

transmitting the fused object attribute data to the target vehicle.

Assignments (9)