Patent application EP18167335A (EP), filed 2018-04-13
Publication number: EP3398824A1
Title: AUTOMATIC BRAKING SYSTEM AND METHOD FOR OPERATING AN AUTOMATIC BRAKING SYSTEM
Abstract: A braking system (10) suitable for use on an automated vehicle includes a ranging-sensor (14), a braking-actuator (28), and a controller (26). The ranging-sensor (14) detects reflections (16) indicative of objects (18) present in a field-of-view (20) proximate to a host-vehicle (12). The braking-actuator (28) controls movement (30) of the host-vehicle (12). The controller (26) is in communication with the ranging-sensor (14) and the braking-actuator (28). The controller (26) determines a region-of-interest (34) within the field-of-view (20) and defines an occupancy-grid (36) that segregates the field-of-view (20) into an array of grid-cells (38). The controller (26) further determines a repeatability-of-detection (40) of each of the grid-cells (38) based on reflections (16) detected by the ranging-sensor (14). The controller (26) further determines that a rigid-object is present in the field-of-view (20) when each of a string of the grid-cells (38) are characterized by the repeatability-of-detection (40) greater than a repeatability-threshold (46). The controller (26) activates the braking-actuator (28) when the string intersects the region-of-interest (34).
IPC codes: B60T   7/    22            A I
B60T   8/  1755            A I
B60W  30/    09            A I
G01S  13/   931            A I
G01S  17/   931            A I
G08G   1/    16            A I
G01S  13/    72            A I
G01S  17/    66            A I
G01S   7/    41            A I
G01S   7/    48            A I
G05D   1/    02            A I
Claims: number: 1
text: A braking system (10) suitable for use on an automated vehicle, said system (10) comprising:
number: 2
text: The system (10) in accordance with claim 1, wherein the controller (26) includes a memory and a temporal-history (50) of the occupancy-grid (36) is stored in the memory.
number: 3
text: The system (10) in accordance with claim 2, wherein the controller (26) further determines an estimated-distance (52) to the rigid-object (42) based on the temporal-history (50) and activates the braking-actuator (28) when the rigid-object (42) has moved out of the field-of-view (20) and the estimated-distance (52) is less than a distance-threshold (54).
number: 4
text: The system (10) according to any one of the claims 1 to 3, wherein the string (44) includes at least three grid-cells (38).
number: 5
text: The system (10) in accordance with claim 4, wherein a dimension of the grid-cell (38) is not greater than five centimeters (5cm) on each side.
number: 6
text: The system (10) in accordance with claim 5, wherein the repeatability-threshold (46) is at least two detections in a grid-cell (38).
number: 7
text: The system (10) according to any one of the claims 1 to 6, wherein the ranging-sensor (14) is a radar-sensor (21) or a lidar-sensor (23).
number: 8
text: A method (200) of operating a braking system (10) suitable for using in an automated vehicle, said method (200) comprising:
number: 9
text: The method (200) in accordance with claim 8, wherein the controller (26) includes a memory, further comprising the step of storing (216) a temporal-history (50) of the occupancy-grid (36) in the memory.
number: 10
text: The method (200) in accordance with claim 9, further comprising the step of determining (218), with the controller (26), an estimated-distance (52) to the rigid-object (42) based on the temporal-history (50) and activating the braking-actuator (28) when the rigid-object (42) has moved out of the field-of-view (20) and the estimated-distance (52) is less than a distance-threshold (54).
number: 11
text: The method (200) according to any one of the claims 9 or 10, wherein the string (44) includes at least three grid-cells (38).
number: 12
text: The method (200) in accordance with claim 11, wherein a dimension of the grid-cell (38) is five centimeters (5cm) or less on each side.
number: 13
text: The method (200) in accordance with claim 12, wherein the repeatability-threshold (46) is at least 2 detections in a grid-cell (38).
number: 14
text: The method (200) according to any one of the claims 9 or 13, wherein the ranging-sensor (14) is a radar-sensor (21) or a lidar-sensor (23).
number: 15
text: An automated vehicular braking system (110) comprising:
Office action: search_report, dated 2018-11-07
Prior art cited: ref_id: US2006293856A1
ref_type: patent
severity: background
ref_id: US8989944B1
ref_type: patent
severity: background
ref_id: US2014350838A1
ref_type: patent
severity: background
ref_id: US2015336575A1
ref_type: patent
severity: background
ref_id: US2016042645A1
ref_type: patent
severity: background
ref_id: US2006293856
ref_type: patent
severity: background
ref_id: US2014350838
ref_type: patent
severity: background
ref_id: US8989944
ref_type: patent
severity: background
ref_id: US2015336575
ref_type: patent
severity: background
ref_id: US2016042645
ref_type: patent
severity: background
Final disposition: pending (2018-11-07)