Vehicle collision avoidance method and system

Abstract

An on-board system of a vehicle scans for target entities in at least one lane to a side of the vehicle and determines position and state of motion of detected target entities. From a state of the vehicle, an intention is inferred of a driver to move the vehicle into one of the at least one lane. If the on-board system detects a risk of collision between a target entity and the vehicle, then the motion of the vehicle is impeded by the system applying brakes of the vehicle and/or reducing a driving torque of the vehicle. A speed of the vehicle is monitored and a motion of the vehicle is not impeded if the speed of the vehicle is above a threshold speed.

Claims

1. A method for collision avoidance of a vehicle, the method comprising: scanning for target entities in at least one lane to a side of the vehicle with an on-board scanning system and gathering information on a position and a state of motion of at least one target entity detected during the scanning with the on-board scanning system; gathering, from one or more sensors on board the vehicle, information associated with a state of motion of the vehicle and driver behavior indicative of an intention of a driver of the vehicle to enter into the at least one lane scanned for target entities; evaluating the gathered information on the position, the state of motion of the at least one target entity, the state of motion of the vehicle, and the driver behavior in order to determine a likelihood of a collision between the at least one target entity and the vehicle; determining that a speed of the vehicle is below a threshold speed; and impeding motion of the vehicle, by activating brakes of the vehicle and/or reducing a driving torque of the vehicle, based on (i) the likelihood of a collision being above a threshold likelihood and (ii) the speed of the vehicle being below the threshold speed.

2. The method of claim 1, wherein the target entities include at least one of a motorized vehicle, a non-motorized vehicle, or a pedestrian.

3. The method of claim 1, wherein the information associated with the driver behavior includes at least one of: an on/off-state of a driving engine of the vehicle, a turning position of a steering wheel of the vehicle, a set gear of the vehicle, an on/off-state of a blinker, or an acceleration command received from the driver.

4. The method according to claim 1, wherein the state of motion of the vehicle includes the speed of the vehicle.

5. The method according to claim 1, wherein the evaluating of the gathered information results in determining that the likelihood of a collision is above the threshold likelihood if a relative speed between at least one of the at least one target entity and the vehicle is above a threshold relative speed.

6. The method according to claim 1, wherein the evaluating of the gathered information results in determining that the likelihood of a collision is above the threshold likelihood if a time for at least one of the at least one target entity to approach within a minimum distance from the vehicle is below a threshold time.

7. The method according to claim 1, wherein evaluating the gathered information further includes evaluating information from an on-board source external to the system.

8. A system for collision avoidance of a vehicle, the system being on board the vehicle and comprising: a scanning system configured to scan for target entities in at least one lane to a side of the vehicle; one or more sensors configured to provide information on a state of motion of the vehicle; and a data processing system connected to the scanning system to receive information on position and state of motion of at least one target entity detected by the scanning system and connected to the one or more sensors to receive information on the state of motion of the vehicle and on driver behavior indicative of an intention of a driver of the vehicle to enter into the at least one lane to a side of the vehicle; wherein the data processing system is configured to: evaluate the received information on the position and state of motion of the detected at least one target entity and on the state of motion of the vehicle and on the driver behavior in order to determine a likelihood of a collision between the detected at least one target entity and the vehicle; determine that a speed of the vehicle is below a threshold speed; and send a control signal to at least one of a brake system, a driving engine, or a clutch system of the vehicle in order to at least one of activate brakes of the vehicle or reduce a driving torque of the vehicle to impede motion of the vehicle based on the likelihood of a collision being above a threshold likelihood and based on the determination that the speed of the vehicle is below the threshold speed.

9. The system according to claim 8, wherein the system is configured to be switched on and off by a driver of the vehicle.

10. The system according to claim 8, wherein the system is configured to deactivate itself in response to a driver of the vehicle repeatedly sending driving commands to the vehicle.

11. The system according to claim 8, wherein the data processing system is configured not to send a control signal based on a number of target entities detected by the scanning system within a time-period being above a threshold quantity.

12. The system according to claim 8, wherein the scanning system includes at least one of: a radar system, a LIDAR system, a camera, or an ultrasonic emitter and receiver.

13. The system according to claim 8, wherein the data processing system is configured to receive information from an on-board source external to the system.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) Below the invention and its advantages will be described further with reference to the accompanying figures, in the context of which non-limiting embodiments of the invention are discussed.

(2) FIG. 1 shows a typical situation in which the invention is intended to avoid a collision.

(3) FIG. 2 shows a situation corresponding to FIG. 1, in which the invention is used.

(4) FIG. 3 is analogous to FIG. 2, with a different target entity.

(5) FIG. 4 is a schematic of an embodiment of the system according to the invention.

DETAILED DESCRIPTION

(6) FIG. 1 shows a situation in which several vehicles (cars) 1, 3 are parked to the side of a traffic lane 5. One of the vehicles 1 is in the process of leaving the parking position and entering the traffic lane 5, presently moving along a direction 301. A target entity 2 (in this example also a car) is moving along the traffic lane 5 in a direction 302. If the target entity 2 continues along its direction 302 of movement there will be a collision between the target entity 2 and the vehicle 1, unless the vehicle 1 moves into the traffic lane 5 and acquires a high enough speed before target entity 2 reaches the vehicle 1 or unless vehicle 1 again moves out of the traffic lane 5 back into the parking position. The latter option usually requires a relatively long reaction time. For the former option, a driver of the vehicle 1, in order to avoid a collision, has to spot target entity 2 and make a sound judgement of the speed of the target entity 2 prior to moving the vehicle 1 into the position shown in FIG. 1. A driver may fail to spot target entity 2, for example because of reduced visibility conditions or because the driver is distracted; the driver may also misjudge the speed of the target entity 2, a possibility which also exists in cases where an on-board system of the vehicle 1 generates a warning signal to indicate the presence of the target entity 2. The situation shown is one of the situations in which the present invention is intended to reduce the risk of a collision.

(7) FIG. 2 shows again a situation in which several vehicles (cars) 1, 3 are parked to the side of a traffic lane 5. The driver of one of the vehicles 1 intends to move the vehicle 1 into traffic lane 5. A target entity 2 (here a car) is approaching the vehicle 1 along the traffic lane 5, moving in a direction 302. The system according to the invention on board the vehicle 1 performing the method according to the invention, scanning lane 5 has detected target entity 2, along with information on the position and the state of motion, in particular speed and direction of movement, of target entity 2. The system has also detected information on the state of the vehicle 1 which indicates that the driver intends to move the vehicle 1 into traffic lane 5. For example, the system has detected that an engine of vehicle 1 is running, that a steering wheel of vehicle 1 is turned to a position for moving into lane 5, that a gear of the vehicle 1 is set to a driving mode, a throttle pedal of the vehicle 1 is pressed, also maybe that a blinker of vehicle 1 is activated. The system, based on the position of target entity 2 relative to the vehicle 1 and on the speed of target entity 2 evaluates a likelihood of a collision between target entity 2 and the vehicle 1, if the vehicle 1 were to move into the traffic lane 5. If the resulting likelihood of a collision is above a pre-defined threshold, the system impedes movement of the vehicle 1, by applying brakes of the vehicle 1 and/or reducing the driving torque of the vehicle 1. In the situation shown in FIG. 2, the resulting likelihood is above the pre-defined threshold, and therefore vehicle 1, contrary to the situation without the inventive system shown in FIG. 1, does not move into the traffic lane 5 but remains in the parking position. A collision between vehicle 1 and target entity 2 is reliably avoided.

(8) FIG. 3 shows a situation similar to the situation shown in FIG. 2. Here, there is a bicycle lane 6 between vehicles 1, 3 in parking position and a traffic lane 5. A target entity 2, here a cyclist, is moving along bicycle lane 6 in a direction 302. Parallel to what has been described for FIG. 2, the system according to the invention on board vehicle 1 detects the target entity 2 and here prevents vehicle 1 from moving into traffic lane 5 across bicycle lane 6, if there is a likelihood of a collision between the vehicle 1 and the target entity 2 above the pre-defined threshold. In a situation as shown in FIG. 3 the system may not only scan bicycle lane 6 but additionally also traffic lane 5 for target entities, and impede movement of the vehicle 1, if the system detects a target entity in traffic lane 5 and finds a likelihood for a collision with this detected target entity above the pre-defined threshold.

(9) FIG. 4 schematically illustrates the system 100 according to the invention. The system 100 includes a data processing system 10, which is connected to a scanning system 20, and plural sensors 30.sub.1 to 30.sub.N. In the embodiment shown, the data processing system 10 is also connected to a driver interface 80 and a database 70. The scanning system 20 is configured to scan at least one lane to a side of a vehicle on board of which the system 100 is located for target entities and to determine a position of a detected target entity relative to the vehicle and a speed of the target entity. The plural sensors include a sensor 30.sub.1 for the speed of the vehicle, sensors 30.sub.2 and 30.sub.3 providing information on an intention of a driver of the vehicle to move the vehicle, like for example a sensor 30.sub.2 indicating a position of a throttle pedal and a sensor 30.sub.3 indicating a gear set to a driving mode, and a sensor 30.sub.4 indicating a turning position of a steering wheel of the vehicle 1. As indicated, the system 100 may comprise further sensors. The database 70 holds information on previous indications of at least one of the sensors 30.sub.1 to 30.sub.N; this additional information enables the data processing system 10 to more reliably assess the intentions of the driver. For example, the database 70 may store a number of presses of the throttle pedal by the driver during e.g. the past fifteen seconds and if this number is beyond a pre-defined threshold, the system may no longer impede vehicle movement. The driver interface 80 primarily is used by the driver to switch the system 100 on or off.

(10) The data processing system 10 is configured to send a control signal to brakes 200 of the vehicle and/or to an engine 210 of the vehicle and/or to a clutch 220 of the vehicle, if the data processing system 10 finds a likelihood for a collision above a pre-defined threshold. The control signal sent to the brakes 200 causes the brakes to be applied, thus impeding movement of the vehicle 1. The control signal sent to the engine 210 reduces, possibly entirely, a torque provided by the engine 210 to a drive train of the vehicle. The control signal sent to the clutch 220 reduces, possibly entirely, a torque transmitted along the drive train of the vehicle to wheels of the vehicle. In general, it is advantageous to both apply the brakes 200 and to reduce the torque provided to wheels of the vehicle, for in this case the brakes 200 do not have to act against the torque along the drive train.

(11) Generally speaking the data processing system 10 can include any data processing system suitable to carry out the steps described above. The data processing system 10 in particular may be an embedded system with one or several single-core or multi-core processors, along with memory units storing program instructions to carry out the method according to the invention and holding data processed, like information received from scanning system 20 and sensors 30.sub.1 to 30.sub.N. The program instructions can include the various pre-defined thresholds, pre-defined numbers and pre-defined time-periods mentioned above. Database 70 may also reside in these memory units or in a separate memory.

(12) Also illustrated in FIG. 4 is the optional possibility to provide the data processing system 10 with information from a source 40 external to the system 100, but on board the vehicle. The external source 40 may include one or more sensors on board the vehicle, in particular sensors originally implemented in the vehicle for purposes other than the invention. The external source 40 may include one or more pre-processing systems, which receive data from various sources on board the vehicle, e.g. from sensors, perform some processing on this data, and communicate the result of such processing to the data processing system 10.

(13) While the above description constitutes the preferred embodiment of the present invention, it will be appreciated that the invention is susceptible to modification, variation and change without departing from the proper scope and fair meaning of the accompanying claims.