Patent ID: 10037472

Abstract:
An object detection system for an automated vehicle includes a radar, a camera, and a controller. The radar detects a cluster of targets characterized by a radar-distance (x) from the host-vehicle. The camera renders an image of an object and a lane-marking present in the area. The controller is configured to determine an equation that is a function of a longitudinal-distance from the host-vehicle and corresponds to the lane-marking, determine a first-optical-angle (θ) based on a first-image-distance between a reference-point on the object and a spot on the image indicated by the equation where the longitudinal-distance is equal to the radar-distance, determine a lateral-distance (Dist_LM) between the object and the lane-marking based on the first-optical-angle and the radar-distance, and determine a first-lateral-offset (yRM) between the object and a longitudinal-axis of the host-vehicle based on the lateral-distance and a first-value of the equation where the longitudinal-distance is equal to the radar-distance.