Detection system
A detection system includes a ranging-sensor and a controller-circuit. The ranging-sensor is configured to detect objects proximate to a host-vehicle. The controller-circuit is in communication with the ranging-sensor. The controller-circuit is configured to determine that a trailer is being towed by the host-vehicle and determine a trailer-distance between the host-vehicle and a front of the trailer based on a distance to a first-group of objects detected by the ranging-sensor. The first-group is characterized by a first-distance indicated by the ranging-sensor. The controller-circuit determines an axle-distance between the front of the trailer and a trailer-axle based on a second-group of objects. The second-group is characterized by a second-distance indicated by the ranging-sensor. The controller-circuit determines a trailer-length based on the trailer-distance and the axle-distance.
1. A detection system, comprising:
a ranging-sensor, the ranging-sensor configured to detect objects proximate to a host-vehicle; and
a controller-circuit in communication with the ranging-sensor, the controller-circuit configured to:
determine a trailer-distance between the host-vehicle and a front of a trailer based on a distance to a first-group of objects detected by the ranging-sensor, said first-group characterized by a first-distance indicated by the ranging-sensor,
determine an axle-distance between the front of the trailer and a trailer-axle based on a second-group of objects, said second-group characterized by a second-distance indicated by the ranging-sensor,
determine a trailer-length based on the trailer-distance and the axle-distance,
determine a peak-threshold that represents detections of real-objects detected by the ranging-sensor, and
determine a noise-threshold that represents detections of phantom-objects detected by the ranging-sensor, wherein said peak-threshold is greater than the noise-threshold, said first-group determined by a first-detection-count that is closer in magnitude to the peak-threshold than to the noise-threshold, and said first-group is first closest in proximity to the host-vehicle.
2. The detection system in accordance with claim 1 , wherein a width of the trailer is determined by a distance between a third-group and a fourth-group of objects detected by the ranging-sensor, said third-group characterized by a first-lateral-offset relative to a centerline of the host-vehicle as indicated by the ranging-sensor, said fourth-group characterized by a second-lateral-offset relative to the centerline of the host-vehicle as indicated by the ranging-sensor.
3. The detection system in accordance with claim 1 , wherein the trailer-length (TL) is determined by a formula including the trailer-distance (Lo), the axle-distance (L 1 ), and a constant (C).
4. The detection system in accordance with claim 3 , wherein the formula is TL=Lo+L 1 +L 1 *C.
5. The detection system in accordance with claim 4 , wherein C is in a range from 0.6 to 0.75.
6. The detection system in accordance with claim 5 , wherein C is 0.7.
7. The detection system in accordance with claim 1 , wherein the second-group of objects is determined by a second-detection-count that is closer in magnitude to the peak-threshold than to the noise-threshold and is second closest in proximity to the host-vehicle.
8. A detection system, comprising:
a ranging-sensor, the ranging-sensor configured to detect objects proximate to a host-vehicle; and
a controller-circuit in communication with the ranging-sensor, the controller-circuit configured to:
determine a trailer-distance between the host-vehicle and a front of a trailer based on a distance to a first-group of objects detected by the ranging-sensor, said first-group characterized by a first-distance indicated by the ranging-sensor,
determine a trailer-type being towed by the host-vehicle based on the trailer-distance,
determine a peak-threshold that represents detections of real-objects detected by the ranging-sensor, and
determine a noise-threshold that represents detections of phantom-objects detected by the ranging-sensor, the first-group of objects determined by a first-detection-count that is closer in magnitude to the peak-threshold than to the noise-threshold and is first closest in proximity to the host-vehicle.
9. The detection system in accordance with claim 8 , wherein the trailer-type is characterized as a cargo-trailer in accordance with a determination that the trailer-distance is less than a distance-threshold.
10. The detection system in accordance with claim 9 , wherein the distance-threshold is in a range of 2 meters to 3 meters.
11. The detection system in accordance with claim 9 , wherein a width of the trailer is determined by a distance between a third-group and a fourth-group of objects detected by the ranging-sensor, said third-group characterized by a first-lateral-offset relative to a centerline of the host-vehicle as indicated by the ranging-sensor, said fourth-group characterized by a second-lateral-offset relative to the centerline of the host-vehicle as indicated by the ranging-sensor.
12. The detection system in accordance with claim 9 , wherein the controller-circuit further determines an axle-distance between the front of the trailer and a trailer-axle based on a second-group of objects, said second-group characterized by a second-distance indicated by the ranging-sensor, and determines a trailer-length based on the trailer-distance and the axle-distance.
13. The detection system in accordance with claim 12 , wherein the trailer-length (TL) is determined by a formula including the trailer-distance (Lo), the axle-distance (L 1 ), and a constant (C).
14. The detection system in accordance with claim 13 , wherein the formula is TL=Lo+L 1 +L 1 *C.
15. The detection system in accordance with claim 14 , wherein C is in a range from 0.6 to 0.75.
16. The detection system in accordance with claim 15 , wherein C is 0.7.
17. The detection system in accordance with claim 12 , wherein the second-group of objects is determined by a second-detection-count that is closer in magnitude to the peak-threshold than to the noise-threshold and is second closest in proximity to the host-vehicle.
18. The detection system in accordance with claim 8 , wherein the trailer-type is characterized as a boat-trailer in accordance with a determination that the trailer-distance is greater than a distance-threshold.
19. The detection system in accordance with claim 18 , wherein the distance-threshold is in a range from 2 meters to 3 meters.
20. The detection system in accordance with claim 18 , wherein a width of the trailer is determined by a distance between a third-group and a fourth-group of objects detected by the ranging-sensor, said third-group characterized by a first-lateral-offset relative to a centerline of the host-vehicle as indicated by the ranging-sensor, said fourth-group characterized by a second-lateral-offset relative to the centerline of the host-vehicle as indicated by the ranging-sensor.
21. The detection system in accordance with claim 18 , wherein the controller-circuit further determines an end-distance to an end of the trailer based on a last-group of objects detected by the ranging-sensor, said last-group characterized by a last-distance indicated by the ranging-sensor, and determines a trailer-length based on the end-distance.
22. The detection system in accordance with claim 21 , wherein the last-group of objects is determined by a last-detection-count that is closer in magnitude to the peak-threshold than to the noise-threshold and is farthest in proximity to the host-vehicle.
23. A detection method, comprising:
detecting, with a ranging-sensor, objects proximate to a host-vehicle;
determining, with a controller-circuit in communication with the ranging-sensor, a trailer-distance between the host-vehicle and a front of the trailer based on a distance to a first-group of objects detected by the ranging-sensor, said first-group characterized by a first-distance indicated by the ranging-sensor;
determining, by the controller-circuit, an axle-distance between the front of a trailer and a trailer-axle based on a second-group of objects, said second-group characterized by a second-distance indicated by the ranging-sensor;
determining, by the controller-circuit, a trailer-length based on the trailer-distance and the axle-distance;
determining, by the controller-circuit, a peak-threshold that represents detections of real-objects detected by the ranging-sensor; and
determining, by the controller-circuit, a noise-threshold that represents detections of phantom-objects detected by the ranging-sensor, the peak-threshold greater than the noise-threshold, the first-group of objects determined by a first-detection-count that is closer in magnitude to the peak-threshold than to the noise-threshold and is first closest in proximity to the host-vehicle.
24. The detection method in accordance with claim 23 , wherein a width of the trailer is determined by a distance between a third-group and a fourth-group of objects detected by the ranging-sensor, said third-group characterized by a first-lateral-offset relative to a centerline of the host-vehicle as indicated by the ranging-sensor, said fourth-group characterized by a second-lateral-offset relative to the centerline of the host-vehicle as indicated by the ranging-sensor.
25. The detection method in accordance with claim 23 , wherein the trailer-length (TL) is determined by a formula including the trailer-distance (Lo), the axle-distance (L 1 ), and a constant (C).
26. The detection method in accordance with claim 25 , wherein the formula is TL=Lo+L 1 +L 1 *C.
27. The detection method in accordance with claim 26 , wherein C is in a range from 0.6 to 0.75.
28. The detection method in accordance with claim 27 , wherein C is 0.7.
29. The detection method in accordance with claim 23 , wherein the second-group of objects is determined by a second-detection-count that is closer in magnitude to the peak-threshold than to the noise-threshold and is second closest in proximity to the host-vehicle.
30. A detection method, comprising:
with a ranging-sensor, objects proximate to a host-vehicle;
determining, with a controller-circuit in communication with the ranging-sensor, a trailer-distance between the host-vehicle and a front of the trailer based on a distance to a first-group of objects detected by the ranging-sensor, said first-group characterized by a first-distance indicated by the ranging-sensor, and determining a trailer-type being towed by the host-vehicle based on the trailer-distance;
determining, by the controller-circuit, a peak-threshold that represents detections of real-objects detected by the ranging-sensor; and
determining, by the controller-circuit, a noise-threshold that represents detections of phantom-objects detected by the ranging-sensor, the first-group of objects is determined by a first-detection-count that is closer in magnitude to the peak-threshold than to the noise-threshold and is first closest in proximity to the host-vehicle.
31. The detection method in accordance with claim 30 , wherein the trailer-type is characterized as a cargo-trailer in accordance with a determination that the trailer-distance is less than a distance-threshold.
32. The detection method in accordance with claim 31 , wherein the distance-threshold is in a range of 2 meters to 3 meters.
33. The detection method in accordance with claim 31 , wherein a width of the trailer is determined by a distance between a third-group and a fourth-group of objects detected by the ranging-sensor, said third-group characterized by a first-lateral-offset relative to a centerline of the host-vehicle as indicated by the ranging-sensor, said fourth-group characterized by a second-lateral-offset relative to the centerline of the host-vehicle as indicated by the ranging-sensor.
34. The detection method in accordance with claim 31 , wherein the controller-circuit further determines an axle-distance between the front of the trailer and a trailer-axle based on a second-group of objects, said second-group characterized by a second-distance indicated by the ranging-sensor, and determines a trailer-length based on the trailer-distance and the axle-distance.
35. The detection method in accordance with claim 34 , wherein the trailer-length (TL) is determined by a formula including the trailer-distance (Lo), the axle-distance (L 1 ), and a constant (C).
36. The detection method in accordance with claim 35 , wherein the formula is TL=Lo+L 1 +L 1 *C.
37. The detection method in accordance with claim 36 , wherein C is in a range from 0.6 to 0.75.
38. The detection method in accordance with claim 37 , wherein C is 0.7.
39. The detection method in accordance with claim 34 , wherein the second-group of objects is determined by a second-detection-count that is closer in magnitude to the peak-threshold than to the noise-threshold and is second closest in proximity to the host-vehicle.
40. The detection method in accordance with claim 30 , wherein the trailer-type is characterized as a boat-trailer in accordance with a determination that the trailer-distance is greater than a distance-threshold.
41. The detection method in accordance with claim 40 , wherein the distance-threshold is in a range from 2 meters to 3 meters.
42. The detection method in accordance with claim 40 , wherein a width of the trailer is determined by a distance between a third-group and a fourth-group of objects detected by the ranging-sensor, said third-group characterized by a first-lateral-offset relative to a centerline of the host-vehicle as indicated by the ranging-sensor, said fourth-group characterized by a second-lateral-offset relative to the centerline of the host-vehicle as indicated by the ranging-sensor.
43. The detection method in accordance with claim 40 , wherein the controller-circuit further determines an end-distance to an end of the trailer based on a last-group of objects detected by the ranging-sensor, said last-group characterized by a last-distance indicated by the ranging-sensor, and determines a trailer-length based on the end-distance.
44. The detection method in accordance with claim 43 , wherein the last-group of objects is determined by a last-detection-count that is closer in magnitude to the peak-threshold than to the noise-threshold and is farthest in proximity to the host-vehicle.