Patent ID: 6542111
Filing Date: 2003-04-01
Classification: B60T,B60W,G01S,G08G

Abstract:
A path prediction method for a vehicular sensing system comprising:(a) scanning a forward field of view by transmitting and receiving radar signals through an oscillating antenna that is driven to oscillate back and forth at a predetermined angle in each direction; (b) detecting a variety of objects in the field of view and generating object data information; (c) extracting object data information which relates to non-vehicle objects; (d) discarding said object data information which pertains to extra large objects not in proximity to likely roadside objects; (e) forming a linear feature edge based upon the extracted non-discarded object data information; (f) extrapolating or interpolating one or more portions of the feature edge when there are discontinuities in the extracted non-discarded object data information; (g) performing one or more smoothing steps upon the feature edge after the feature edge is formed; and (h) determining a predicted path for a vehicle by using an offset with the feature edge.