Patent Application
20240411014
The present invention relates to devices, systems, and methods for testing crash avoidance technologies.
The system disclosed herein can be used with, but is not limited to, vehicles employed in crash avoidance technologies disclosed in the following patents and patent applications developed by the same inventors and assigned to the same assignee: U.S. Pat. No. 8,428,863 issued on Apr. 23, 2013 titled “Devices, System, and Methods for Testing Crash Avoidance Technologies”; U.S. Pat. No. 8,428,864 issued on Apr. 23, 2013 titled “Devices, System, and Methods for Testing Crash Avoidance Technologies”; U.S. Pat. No. 8,447,509 issued on May 21, 2013 titled “System and Method for Testing Crash Avoidance Technologies”; U.S. Pat. No. 8,457,877 issued on Jun. 4, 2013 titled “Devices, System, and Methods for Testing Crash Avoidance Technologies”; U.S. Pat. No. 8,583,358 issued on Nov. 12, 2013 titled “Devices, System, and Methods for Testing Crash Avoidance Technologies”; U.S. Pat. No. 8,589,062 issued on Nov. 19, 2013 titled “Devices, System, and Methods for Testing Crash Avoidance Technologies”; U.S. Pat. No. 8,751,143 issued on Jun. 10, 2014 titled “System and Method for Testing Crash Avoidance Technologies”; U.S. Pat. No. 8,755,999 issued on Jun. 17, 2014 titled “System and Method for Testing Crash Avoidance Technologies”; U.S. Pat. No. 8,762,044 issued on Jun. 24, 2014 titled “System and Method for Testing Crash Avoidance Technologies”; U.S. Pat. No. 9,182,942 issued on Nov. 10, 2015 titled “System and Method for Testing Crash Avoidance Technologies”; U.S. Pat. No. 9,827,998 issued on Nov. 28, 2017 titled “System and Method for Testing Crash Avoidance Technologies”; U.S. Pat. No. 10,585,429 issued on Mar. 10, 2020 titled “Robotic Steering Controller for Optimal Free Response Evaluation”; U.S. Pat. No. 10,697,856 issued Jun. 30, 2020 titled “A Soft Collision Partner (AKA Soft Car) Used in System For Testing Crash Avoidance Technologies”;
PCT Application No. PCT/US22/45956 filed on Oct. 6, 2022 titled “Articulating Pedestrian Dummy for Vehicle Testing”; PCT Application No. PCT/US22/46246 filed on Oct. 11, 2022 titled “Wirelessly Controlled Lights for Surrogate Targets”; U.S. Provisional Application 63/281,548 filed on Nov. 19, 2021 title “System and Method for Testing Crash Avoidance Technologies”; and U.S. Provisional Application 63/349,680 filed on Jun. 7, 2022 title “System and Method for Testing Crash Avoidance Technologies”. Each of these patents and patent applications is incorporated herein in their entirety including all tables, figures, and claims.
As Advanced Crash Avoidance Technologies (ACATs) such as Forward Collision Warning (FCW), Crash Imminent Braking Systems and other advanced technologies continue to be developed, the need for full-scale test methodologies that can minimize hazards to test personnel and damage to equipment has rapidly increased. Evaluating such ACAT systems presents many challenges. For example, the evaluation system should be able to deliver a potential Soft Collision Partner (Soft CP), also known as a surrogate target, reliably and precisely along a trajectory that would ultimately result in a crash in a variety of configurations, such as rear-ends, head-ons, crossing paths, and sideswipes. Additionally, the Soft CP should not pose a substantial physical risk to the test driver, other test personnel, equipment, or to subject vehicles in the event that the collision is not avoided. This challenge has been difficult to address. Third, the Soft CP should appear to the subject vehicle as the actual item being simulated, such as a motor vehicle, a pedestrian, or other object. For example, the Soft CP should provide a consistent signature for radar and other characteristics sensors to the various subject vehicles, substantially identical to that of the item being simulated.
As disclosed in the inventors' previous patent applications, fully incorporated herein by reference, the Guided Soft Target (GST) system includes a dynamic motion element (DME) as a mobile and controllable platform that carries the Soft CP. The DME is of such shape and dimension that it can be run over by the vehicle under test (aka the subject vehicle), with little to no damage to either the DME or the subject vehicle. When a collision occurs with the GST system, the subject vehicle impacts the Soft CP, which then absorbs the collision and may collapse and/or separate from the DME. Such a Soft CP is disclosed in U.S. Pat. No. 8,428,863, incorporated by reference. This is disclosed fully in the previous patent applications listed above and incorporated by reference.
As vehicle-based sensors and detection algorithms become more sophisticated, it is imperative to have accurate and repeatable characteristic signatures; otherwise robust testing of the cars ACAT system will suffer.
Therefore, a system to accurately and consistently measure the characteristic signatures of a Soft CP or other object that a vehicle may encounter would be advantageous. The system should yield data that realistically emulates vehicles or other objects, and that data may be used to improve ACAT testing.
The present invention provides an elegant solution to the needs described above and offers numerous additional benefits and advantages, as will be apparent to persons of skill in the art. Disclosed herein is a measurement cart that takes accurate and repeatable characteristic measurements of objects in the field. It can be used for verification and calibration of surrogate targets and dummies, or for measurements of real objects to better understand their characteristics. The measurement cart may use differential-GPS (2 cm accuracy) and automatic steering and propulsion to control and record the position and orientation of the characteristics sensor with respect to the subject vehicle, or object being measured. The measurement cart can be fitted with a variety of characteristics sensors such as radar, LiDAR, ultra-sonic and near/far infrared sensors. It is particularly advantageous to mount multiple characteristics sensors on the cart to obtain data for more than one characteristic.
A system and method are provided for measuring a characteristic signature of an object. The system includes a computer in data communication with a cart processor, the computer constructed to calculate a path. The system also has a measurement cart with a mobile platform comprising a steering actuator connected to a steered wheel and a motor connected to a driven wheel, a characteristics sensor directed at the object, a GPS module (i.e., GPS antenna and a receiver), and the cart processor is constructed to control the motor and steering actuator, and constructed to receive data from the characteristics sensor and GPS module. The cart processor performs the steps of: (a) actuating the steering actuator based on location data generated from the GPS module and the calculated path; (b) actuating the motor based on location data generated from the GPS module and the calculated path; and (c) recording data generated from the characteristics sensor. The computer may be integrated into the cart or remote from the cart.
The computer may access the data from the cart processor, and processes the data to generate a file representing the characteristic signature of the object. The computer may be in wireless data communication with the cart processor. The computer may also transfer the data to an external processor, and the external processor processes the data to generate a file representing the characteristic signature of the object.
A sensor arm bracket may be slidably attached to the support post, and a sensor arm attached to the sensor arm bracket. The characteristics sensor is attached to the sensor arm. The characteristics sensor may have a height adjustment and/or a rotational adjustment. The characteristics sensor may be a plurality of characteristics sensors, and step (c) includes recording the data from the plurality of characteristics sensors simultaneously. The characteristics sensor may be at a fixed angle and/or a fix range relative to the object during at least a portion of the calculated path.
The cart can also include an inertial measurement unit (IMU) connected to the cart processor, and steps (a) and (b) are based on data from the IMU. The cart can also include a battery connected to the cart processor.
A mast may extend from the mobile platform, and a portion of the GPS module may be mounted thereto. A support post may also extend from the mobile platform, and the computer may detachably mounts thereto.
A cart is further disclosed that includes a mobile platform with a steering actuator connected to a steered wheel. The cart also has a characteristics sensor, a GPS module, an inertial measurement unit (IMU), and a cart processor connected to the steering actuator, characteristics sensor, GPS module and IMU. The cart processor may perform the following steps: (a) actuate the steering actuator based on data generated from the GPS module and data generated from the IMU; and (b) record data generated from the characteristics sensor. The cart may also have a motor connected to the cart processor and constructed to drive a driven wheel, with the cart processor also (c) actuates the motor based on location data generated from the GPS module and data generated from the IMU.
A computer may be in data communication with the cart processor and may calculate a path. The cart processor performs steps (a) and (c) based on the calculated path. The characteristics sensor may be at a fixed angle and/or a fix range relative to the object during at least a portion of the calculated path. The characteristics sensor may be height and rotationally adjustable.
A method for measuring a characteristic signature of an object using a measurement cart is also disclosed. The cart may have a mobile platform with automatic steering and a characteristics sensor. The method includes (a) setting the origin of the target; (b) providing a path; (c) pointing the characteristics sensor at the target; (d) propelling the mobile platform, while the mobile platform is steered automatically based on the path; and (e) recording data from characteristics sensor.
The mobile platform may also include automatic propulsion, and step (d) is done automatically. The propulsion of step (d) may be provided by a user. The path may maintain the characteristics sensor at a fixed angle and/or a fixed range relative to the object during at least a portion of step (d). The path can be based on a plurality angles defined by a user, or upon a fixed range defined by a user.
The cart in the method may include a GPS module constructed to locate the position of the cart, and step (a) is based upon the GPS location of the cart. The method can further include processing the characteristics sensor data to generate a file representing the characteristic signature of the object. The file may be a radial graph.
Additional aspects, alternatives and variations as would be apparent to persons of skill in the art are also disclosed herein and are specifically contemplated as included as part of the invention. The invention is set forth only in the claims as allowed by the patent office in this or related applications, and the following summary descriptions of certain examples are not in any way to limit, define or otherwise establish the scope of legal protection.
The invention can be better understood with reference to the following figures. The components within the figures are not necessarily to scale, emphasis instead being placed on clearly illustrating example aspects of the invention. In the figures, like reference numerals designate corresponding parts throughout the different views and/or embodiments. Furthermore, various features of different disclosed embodiments can be combined to form additional embodiments, which are part of this disclosure. It will be understood that certain components and details may not appear in the figures to assist in more clearly describing the invention.
Reference is made herein to some specific examples of the present invention, including any best modes contemplated by the inventor for carrying out the invention. Examples of these specific embodiments are illustrated in the accompanying figures. While the invention is described in conjunction with these specific embodiments, it will be understood that it is not intended to limit the invention to the described or illustrated embodiments. To the contrary, it is intended to cover alternatives, modifications, and equivalents as may be included within the spirit and scope of the invention as defined by the appended claims.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. Particular example embodiments of the present invention may be implemented without some or all of these specific details. In other instances, process operations well known to persons of skill in the art have not been described in detail in order not to obscure unnecessarily the present invention. Various techniques and mechanisms of the present invention will sometimes be described in singular form for clarity. However, it should be noted that some embodiments include multiple iterations of a technique or multiple mechanisms unless noted otherwise. Similarly, various steps of the methods shown and described herein are not necessarily performed in the order indicated, or performed at all in certain embodiments. Accordingly, some implementations of the methods discussed herein may include more or fewer steps than those shown or described. Further, the techniques and mechanisms of the present invention will sometimes describe a connection, relationship or communication between two or more entities. It should be noted that a connection or relationship between entities does not necessarily mean a direct, unimpeded connection, as a variety of other entities or processes may reside or occur between any two entities. Consequently, an indicated connection does not necessarily mean a direct, unimpeded connection unless otherwise noted.
The following list of example features corresponds with the attached figures and is provided for ease of reference, where like reference numerals designate corresponding features throughout the specification and figures:
The GPS module 35 provides location data to the cart processor 85. The IMU 45 measures and reports to a cart processor 85 (see
Referencing
4A is a schematic showing the various connected between the components, where the cart processor 85 and the computer 65 are integrated in the cart 5. The cart is denoted as the dashed box 5 around the components that are on the cart. The cart processor 85 may have input connection from the GPS module 35, the IMU 45, and the senor 50. The cart processor 85 may control the steering actuator 80 and the motor 95. Power is provided by battery 90. The computer (tablet) 65 may control the cart processor 85. The computer (tablet) 65 may be connected to an external processor 130 via wired/wireless signal 132 (a wireless communication is illustrated). The external processor 130 may be used to download and process data obtained by the computer (tablet) 65 that was originally generated from the cart 5. This is shown in
The cart 5 may be used for at least two different measurements. The first is fixed range shown in
Both of these measurements may be done semi-automatically and fully automatically. The computer 65 may run software to implement the semi-automatic and fully automatic data collection. As previously describe with reference to
In the semi-automatic mode, the cart processor is connected to the steering actuator, characteristics sensor, GPS module and IMU. The cart processor may perform the following steps: (a) move the steering actuator based on data generated from the GPS module and data generated from the IMU; and (b) record data generated from the characteristics sensor. In this mode, the user provides the propulsion. In the fully automatic mode, the cart additionally may actuate the motor to provide propulsion based on location data generated from the GPS module and data generated from the IMU, to maintain the cart on the path calculated by the computer.
For the software to function correctly, the location of the center of the target, referred to as the Origin, and the heading of the target must be known. This section describes alternative methods to set the target origin and heading. Select the method that best fits the user's application. In method one, a local coordinate system is used where a spot is permanently marked on the surface with a known latitude, longitude, and heading. If this is the case, then target setup is as follows: (1) Place the target on the origin with its heading aligned with the x-axis (see
Method two may be used if the user wants to place the origin at an unmarked location. This is only applicable if it is possible to put the cart on the origin. If the target is already on top of the origin and cannot be easily moved, use method three below:
Method three uses the target's current position to set the origin:
Offset Distance=(Distance from step 3)+(Target Length)/2
The characteristics sensor data, along with the associated position information, is logged onto the computer (tablet) 65, which either processes that data partially or fully, or transfers the data to a separate external processor 130 for processing.
The “Offset” field can be used to apply a path offset. This can be used, for example, to take a measurement of the rear of an object but when approaching from an adjacent lane. In this example, the offset should be set to one lane width.
When manually positioning the cart, the user should ensure it is close to the desired path (and view angle) and generally pointing at the target. The user can determine if they are near the desired path by confirming that the path error is small (as shown in the Path Error indicator (7-30). Additionally, the user can see the View Angle (7-35) displayed in the Status panel.
When in Automatic steering mode, the cart will acquire and follow the desired path regardless of the direction of travel (forward or backwards). The Fixed-Angle measurements can be performed while moving towards or away from the target.
When manually positioning the cart, ensure it is close to the desired path (i.e., range) and generally pointing at the target. The user can determine if they are near the desired path by confirming that the path error is small or that the range value, displayed in the Status panel, is correct.
When in Automatic steering mode, the cart will acquire and follow the desired path regardless of the direction of travel (forward or backwards). The Fixed-Range measurements may be performed while moving around the target in an anti-clockwise direction.
If the Auto Drive feature is enabled, then the cart is capable of both steering and propelling itself in order to perform characteristic measurements. The operator does not need to push the cart but should be in possession of the tablet computer and should be close enough to the cart to maintain a consistent wireless communication signal.
The Drive Status indicator (7-55) indicates the state. To engage the Auto Drive feature, set the Cart Control to Auto Drive (7-60). The drive status will only be “Ready” if the cart is within a predetermined distance from the path and pointing in the general direction of the path. Once the drive state is “Ready” the user can initiate the measurement by pressing the “Start Logging” (7-20) button. Note that the cart will do automatic steering when in Auto Drive, even if the drive state is “Not Ready.”
The Drive Setup button (7-65) will open the Speed Control Setup parameters window (see
To use the Auto Drive function for the Fixed Range configuration, the following steps may be used in the software:
The cart will drive forward and will stop after it completes one circle. The logging will stop automatically. The cart software calculates the path and the cart processor actuates the steering actuator and motor to maintain upon this path, using data from the GPS module and IMU.
To use the Auto Drive function for the Fixed Angle configuration, it is important to properly set the Auto Drive Parameters (
When using the drive feature, the operator may specify multiple different view angles to measure. The cart will perform these measurements consecutively, without operator interaction. The current View Angle is shown in the GUI (item 7-10 in
To perform a Fixed-Angle measurement of one view angle (i.e., where only one view angle is enabled), position the cart near the path to get the Drive Status (7-55) and press “Start Logging” (7-60). If the cart range is less than the Start Distance (7-80) it will first reverse to the start distance. It will then drive forward to perform the measurement and then reverse to the start distance in preparation for another measurement. The operator can abort at any time by pressing the “End Logging” button (7-25) illustrates the two paths for a single view angle measurement when the cart starts near the Start Distance.
The cart can perform multiple Fixed-Angle measurements back-to-back if more than one view angle is enabled. In this case, after the first measurement is complete the cart will reverse along the path of the next view angle until it reaches the Start Distance. This pattern will continue until all view angles have been measured at which point the cart will reverse back to the Start Distance of the first view angle. An example of this process with three (3) view angles is illustrated in
As with the fixed-range Auto Drive, the cart software calculates the path and the cart processor actuates the steering actuator and motor to maintain upon this path, using data from the GPS module and IMU.
The computer and/or the external processor may use the characteristics sensor data to generate a file representing the characteristic signature of the object. The file is a two dimensional or three dimensional representation of the object, based on the characteristic data measured by the characteristics sensor—i.e., radar, LiDAR, ultra-sonic and near/far infrared.
The file may be a radial graph. For example,
The characteristics sensors described above may be radar, LiDAR, ultra-sonic and near/far infrared sensors. It is particularly advantageous to mount multiple characteristics sensors on the cart to obtain signatures for more than one characteristic simultaneously.
The above description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles described herein can be applied to other embodiments without departing from the spirit or scope of the invention. Thus it is to be understood that the description and drawings presented herein represent a presently-preferred embodiment of the invention and are therefore representative of the subject matter which is broadly contemplated by the present invention. It is further understood that the scope of the present invention fully encompasses other embodiments that may become obvious to those skilled in the art, and that the scope of the present invention is accordingly limited by nothing other than the appended claims.
The present invention claims priority as the non-provisional of U.S. Provisional Patent Application No. 63/325,794 entitled “Radar Measurement Cart” filed Oct. 20, 2021 which is hereby incorporated in its entirety including all tables, figures and claims.
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/US2022/047060 | 10/18/2022 | WO |
| Number | Date | Country | |
|---|---|---|---|
| 63257994 | Oct 2021 | US |
