Patent attributes
A braking system suitable for use on an automated vehicle includes a ranging-sensor, a braking-actuator, and a controller. The ranging-sensor detects reflections indicative of objects present in a field-of-view proximate to a host-vehicle. The braking-actuator controls movement of the host-vehicle. The controller is in communication with the ranging-sensor and the braking-actuator. The controller determines a region-of-interest within the field-of-view and defines an occupancy-grid that segregates the field-of-view into an array of grid-cells. The controller further determines a repeatability-of-detection of each of the grid-cells based on reflections detected by the ranging-sensor. The controller further determines that a rigid-object is present in the field-of-view when each of a string of the grid-cells are characterized by the repeatability-of-detection greater than a repeatability-threshold. The controller activates the braking-actuator when the string intersects the region-of-interest.
