Patent ID: 9599706
Date: 2017-03-21
CPC Classifications: B60Q,B60T,B60W,G01S

Claim:
1. A method for tracking a target object which is moving in a region of interest in proximity to a host vehicle, said method comprising: providing images from a camera onboard the host vehicle, where the images cover a field of view relative to the host vehicle; providing data from two radar sensors onboard the host vehicle, where the radar sensors have coverage areas which overlap the field of view of the camera such that the target object is sensed by the camera and at least one of the radar sensors, and where the data from the radar sensors includes radar points identifying target object position and radial velocity; determining that the target object is present in the region of interest based on a cue from one of the radar sensors; analyzing the images from the camera to identify and track salient vision points on the target object, where the salient vision points include locations of locally maximal intensity variation in the images; associating the salient vision points with the radar points, including a transformation between radar point position and salient vision point image location, where associations are based on position and motion of the salient vision points and the radar points; computing, using a microprocessor, a velocity of the target object relative to the host vehicle, using a fusion calculation including the radar point position and radial velocity, and salient vision point motion flow; and using the velocity of the target object in a rear cross traffic avoidance (RCTA) system, where the region of interest is located to the rear of the host vehicle, and the RCTA system issues a warning when the target object is projected to imminently enter a warning zone and applies host vehicle brakes when the target object is projected to imminently enter a braking envelope.