System and method for modeling advanced automotive safety systems

摘要

A system and methods are disclosed for providing integrated software development environment for the design, verification and validation of advanced automotive safety systems. The system allows automotive software to be developed on a host computer using a collection of computer programs running simultaneously as processes and synchronized by a central process. The software disclosed uses separate synchronized processes, permitting signals from disparate sources to be generated by a simulation running on the host computer or from actual sensors and data bus signals coming from and going to actual vehicle hardware which is connected to their bus counterparts in the host computer on a real-time basis. The methods provide a data model that first extends the capabilities of the physical data model and then translates, gates, optimizes, fuses, filters and manages the physical representation of the logical model into a state estimation of the situation around the vehicle.

主权项

1. A state estimation method for vehicle sensors, comprising:
mounting a plurality of object detection sensors to a platform; logging into a memory sensor data, wherein the memory comprises any hard disk, Read Only Memory (ROM), Dynamic Random Access (RAM) memory, or any combination of different memory devices; connecting a controller to the plurality of object detection sensors, wherein the controller comprises at least one of a processor, a micro-controller, and a programmable logic device, and wherein the controller is operatively configured for:
receiving sensor reports from the object detection sensors,determining a first mean value of a first object detection sensor report from a first object detection sensor detecting an object in a first detection, wherein the first mean value is an average value of the central tendency of a one-sigma probability error distribution of the first object detection sensor report in units of cross range and down range values, and wherein the one-sigma probability distribution of the first object detection sensor represents measurement errors and are represented in the same units of cross range and down range as variance of a the detected object,logging into the memory the first mean value and first variance of the first detected object's first detection from the first object detection sensor, wherein the logged first mean value and first variance of the detected object are stored values,determining a second mean value of a second object detection sensor report from a second object detection sensor detecting the object in a second detection, wherein the second mean value is an average value of the central tendency of a one-sigma probability error distribution of the second object detection sensor report in units of cross range and down range values, and wherein the one-sigma probability distribution of the second object detection sensor represents measurement errors and are represented in the same units of cross range and down range as variance of a second detected object,logging into the memory the second mean value and the second variance of the object in the second object detection, wherein the logged second mean value and second variance of the object from the second detection are stored values,a third detection of the object by the first and second sensor,transmitting the measured value of the third detection of the object from the first and second object detection sensors to the controller,responsive to receiving the measured values of the third detection of the object, retrieve from the memory the stored values from the first and second object detection sensors,determining a covariance value of the third detection of the object, using the retrieved stored values,using the measured values of the third detection of the object, and the determined covariance value, use a filter to make a first estimate of state of the third detection of the object, wherein the first estimate of state is the result of combining the first sensor report with the second sensor report, and the first estimate of state includes at least one of position, velocity and acceleration of the third detection of the object, andlogging the first estimate of state and determined covariance value into the memory.