Stopped object filtering for side object detection system
An object-presence alert is given to a driver by a vehicular side-object detection system in response to a remote sensor for sensing objects in a predetermined zone of interest along side a vehicle. The zone of interest includes a front region and a rear region, and the remote sensor provides sensor data to generate a set of localized detection points. When detection points are sensed in the zone of interest, then a plurality of respective sets of detection points are collected at successive sample times. For each of the sets of detection points, a tracking type of the object within the zone of interest is determined in comparison to a speed of the vehicle and the object is classified as either a moving vehicle or a stationary object in response to the tracking type and in response to locations of the detection points in the zone of interest. If the object first appeared in a region other than the front region, then a short observation period is selected including a first predetermined number of sets of detection points and otherwise a long detection period is selected including a second predetermined number of sets of detection points longer than the first predetermined number. A number of times that the object is classified as a moving vehicle within the selected observation period is compared to a predetermined percentage threshold and the alert is initiated if classified as a moving vehicle for greater than the predetermined percentage threshold.
1. A method for controlling an object-presence alert in a vehicular side-object detection system in response to a remote sensor for sensing objects in a predetermined zone of interest along side a vehicle, said zone of interest including a front region and a rear region, said remote sensor providing sensor data to generate a set of localized detection points, said method comprising the steps of:
when detection points are sensed in said zone of interest, then collecting a plurality of respective sets of detection points at successive sample times;
for each of said sets of detection points, determining a tracking type of said object within said zone of interest in comparison to a speed of said vehicle and classifying said object as either a moving vehicle or a stationary object in response to said tracking type and in response to locations of said detection points in said zone of interest;
if said object first appeared in other than said front region, then selecting a short observation period including a first predetermined number of sets of detection points and otherwise selecting a long detection period including a second predetermined number of sets of detection points longer than said first predetermined number; and
comparing a number of times that said object is classified as a moving vehicle within said selected observation period to a predetermined percentage threshold and initiating said alert if classified as a moving vehicle for greater than said predetermined percentage threshold.
2. The method of claim 1 wherein an initiated alert continues until detection points cease being generated for said zone of interest.
3. The method of claim 1 wherein said step of classifying said object as either a moving vehicle of a persistent stationary object is repeated for subsequent observation periods and wherein an initiated alert is canceled if a subsequent number of times that said object is classified as a moving vehicle is less than a predetermined percentage threshold.
4. The method of claim 1 wherein said predetermined percentage threshold comprises a first value when said short observation period is selected and comprises a second value when said long observation period is selected, wherein said first value is less than said second value.
5. The method of claim 4 wherein said predetermined percentage threshold comprises a third value when said alert is initiated, wherein said third value is less than said first value.
6. The method of claim 1 further comprising, prior to said foregoing steps, the step of:
comparing a speed of said vehicle with a speed threshold and initiating said alert if detection points are generated for an object in said zone of interest and said speed of said vehicle is less than said speed threshold.
7. The method of claim 1 further comprising the step of:
if said object first appeared in other than said front region, then initiating said alert.
8. The method of claim 1 wherein a border between said front region and said rear region is adjusted in response to speed of said vehicle.
9. A method for controlling an object-presence alert in a vehicular side-object detection system in response to a remote sensor for sensing objects in a predetermined zone of interest along side a vehicle, said zone of interest including a front region and a rear region, said remote sensor providing sensor data to generate a set of localized detection points, said method comprising the steps of:
when detection points are generated for an object in said zone of interest, then determining a region where said object first appeared in said zone of interest;
if said object first appeared in said front region, then tracking motion of said object within said zone of interest in comparison to a speed of said vehicle;
foregoing said alert if said tracked motion substantially corresponds to a stationary object;
if said tracked motion does not substantially correspond to a stationary object then classifying said object as either a moving vehicle or a persistent stationary object in response to locations of said detection points in said zone of interest; and
initiating said alert if classified as said moving vehicle, otherwise foregoing said alert.
10. A method for controlling an object-presence alert in a vehicular side-object detection system in response to a remote sensor for sensing objects in a predetermined zone of interest along side a vehicle, said zone of interest including a front region, a side region, and a rear region, said remote sensor providing sensor data to generate a set of localized detection points, said method comprising the steps of:
collecting a set of detection points when an object enters said zone of interest;
identifying which of said front, side, or rear regions said object first appeared in; and
if said object first appeared in other than said front region, then initiating said alert, otherwise foregoing said alert with respect to said object.