EP2319031A1 - Système de capteurs pour sécurité de véhicule - Google Patents

Système de capteurs pour sécurité de véhicule

Info

Publication number
EP2319031A1
EP2319031A1 EP08763436A EP08763436A EP2319031A1 EP 2319031 A1 EP2319031 A1 EP 2319031A1 EP 08763436 A EP08763436 A EP 08763436A EP 08763436 A EP08763436 A EP 08763436A EP 2319031 A1 EP2319031 A1 EP 2319031A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
distance
subject vehicle
driver
sensing means
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP08763436A
Other languages
German (de)
English (en)
Other versions
EP2319031A4 (fr
Inventor
Krishnan Kutty Kongasary
Vijay Soni
Vinay Govind Vaidya
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KPIT Technologies Ltd
Original Assignee
KPIT Cummins Infosystems Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by KPIT Cummins Infosystems Ltd filed Critical KPIT Cummins Infosystems Ltd
Publication of EP2319031A1 publication Critical patent/EP2319031A1/fr
Publication of EP2319031A4 publication Critical patent/EP2319031A4/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/161—Decentralised systems, e.g. inter-vehicle communication
    • G08G1/163—Decentralised systems, e.g. inter-vehicle communication involving continuous checking
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Definitions

  • the present invention relates generally to safety systems used in means of vehicular transport. More particularly, the present invention relates to on-board systems and devices that function to assist the drivers of motor land vehicles in a variety of driving situations and maneuvers.
  • the system outlined by the present invention employs a plurality of sensors that function in coordinated fashion to map relative positions of objects around the vehicle so as to warn the driver of impending collisions.
  • US 5,529,138 describes a collision warning and avoidance system that uses a laser radar to determine the distance and relative velocity to determine a time to collision of a vehicle with an object.
  • US 5,646,612 describes a collision warning and avoidance system employing a laser radar and infrared camera.
  • laser radar systems are complicated systems that are generally expensive and tend to suffer from a narrow field of view and relatively poor lateral resolution.
  • the present state of art provides numerous devices and methods locating, tracking and monitoring the movement of objects in relation to each other. These devices range from determining the relative trajectories of subatomic particles to the plotting the relationship between global positioning satellites to traffic collision avoidance systems, such as those described in US 6,690,296, US 6,690,295, US 6,636,752, US 6,525,674 and US 6,356,855. US 6,230107, US 5,453,740 and US 6,747,592 disclose use of Doppler effect for calculation of velocity of moving objects. However, a single system addressing multiple driving issues such as lane change, parking assist etc is not found in or anticipated by prior art. Disclosure of Invention Technical Problem
  • the present invention discloses the logic and description of a system and method for collision warning system comprising inter alia, a plurality of sensors.
  • the present invention advantageously uses state of the art electronic sensors such as ultrasound, infrared and lasers.
  • the current invention provides means to adapt to the safety distance to be maintained between moving objects on the basis of their relative speeds.
  • the present invention is unique as it provides for discretionary logic for selection and actuation of sensors to be fired and frequency of their firing on the basis of parameters including vehicle speed and maneuver to be performed.
  • the present invention uses to its advantage a selection among sensor types instead of any single type of sensor. This minimizes dependency on any one type of sensor and also, reduces interferences due to environmental changes in functioning of individual sensors. Also, this minimizes signal interference between adjacent sensors.
  • the system of sensors act in coordinated fashion.
  • the present invention also provides for logic to select, fire and periodicity of re-firing a specific combination of sensors depending on maneuvers to be performed in relation to relative speed of the vehicle. Being a selection amongst various sensor types, the depth of field and field of view are optimally balanced. Description of Drawings
  • Figure 1 illustrates the arrangement of the sensor system on the subject vehicle, as outlined by the best mode of performing the present invention.
  • Figure 2.a illustrates the schematics of the working of a ranging sensor.
  • Figure 2.b and 2.c illustrate schematics of calculation of relative distance between subject vehicle and adjacent vehicles
  • Figure 3. a illustrates the schematics of the static safety zone around subject vehicle within which the driver can operate without risk of collision
  • Figure 3.b illustrates the schematics of the dynamic safety zone around the subject vehicle within which the driver can operate without risk of collision
  • Figure 4.a and 4.b illustrate schematics of calculating radius of motion upon change in steering angle
  • Figure 5 illustrates schematics of forces acting on a vehicle when undertaking a turn
  • Figure 6 illustrates schematics of maneuver of lane change undertaken by the driver with assistance of sensor system
  • Figures 7 illustrates concept of safety zones around each sensor with the ranging sensor as center of the safety zone.
  • Figure 8. a, 8.b, 8.c and 8.d illustrate limiting conditions in a lane change maneuver and the logic to maintain minimum safety distance between the vehicles during lane change.
  • Figure 9 illustrates the graphic user interface between the driver and the sensor system.
  • Figure 10 illustrates the door opening assist function enabled by sensor system of this invention. Best Mode
  • Figure 1 illustrates arrangement of ranging sensors 101, 102 , 103, 104, 105 ,106,
  • sensors 101, 112 at front and sensors 106, 107 at back of vehicle are constantly active whereas actuation of sensors 102, 103, 104, 105, 108, 109, 110 and 111 may be activated selectively, the stimulus for such activation being stimuli of subsequent vehicle maneuver such as turning of steering wheel, switching on of turn indicator and the like.
  • Figure 2.a illustrates the schematic of working of a ranging sensor 200.
  • ranging signal 202 is sent to the target 201 and after reflection, the reflected signal 203 is received by the sensor.
  • the distance between the sensor and the target is calculated by
  • V initial velocity of the vehicle and dV is the change in velocity after lapse of time dT.
  • SD is the safety distance to be maintained around the vehicle
  • OSD is the overall stopping distance of the vehicle
  • SF is a safety factor that depends on characteristics of vehicle and the driver. Stopping distance is different for different vehicles and depends to a large extent on the inertia of the vehicle, road grip, condition of brakes and driver's reaction time during hazardous situations. Driver response times are instrumental in deciding as to when the driver, in response to hazardous situation, applies brakes in order to stop the vehicle. In the time required for this response, the vehicle moves ahead and thus, the overall stopping distance is increased by a proportional amount.
  • the stopping distance of the vehicle is given by
  • s is the stopping distance of the subject vehicle
  • v is the final velocity of the subject vehicle
  • u is the initial velocity of the subject vehicle
  • a is the deceleration experienced by the vehicle in coming to a halt from the initial velocity.
  • the safe distance wherein an response is elicited from the driver and the vehicle is actually stopped is a simple arithmetic addition of the response time in terms of distance traveled by vehicle during response time and the distance traveled by the vehicle between application of brakes and coming to a halt. Over a large number of readings, generalization of these parameters is possible and thus, a value for safety distance be arrived at for particular vehicle and driving conditions. Thus, it is possible to chalk out a periphery of safe distance on all sides of vehicle, as illustrated in Figure 3.a
  • Figure 3. a illustrates the concept of safety zone around the subject vehicle wherein the driver can operate without risk of collision. Assuming shape of vehicle 100 to be a rectangle with length b and width a, the length 'd' of hypotenuse is given by:
  • the safe zone for the subject vehicle is a rectangular area 301 with width (a + SD) and length (b + SD).
  • this kind of safe zone representation is static with respect to change in steering of the subject vehicle.
  • the dynamism of the safety zone with turning angles of the vehicle is described in detail in Figures 3.b.
  • Figure 3.b illustrates the dynamism of safety zone 301 in accordance with the different maneuvers undertaken by the vehicle 100.
  • vehicle 100 turns by a particular angle theta
  • the safe rectangle 301 also rotates by the same angle theta.
  • the safety zone 301 is thereby inscribed in a circular zone 302 of dimensions such that distance of any tip of the vehicle 100 from boundary of this circular safety zone 302 is equal to the safety distance SD.
  • the diameter of the circumscribing 'safe' circle 302 is given as
  • D diameter of the circumscribing safe circle 302
  • d length of hypotenuse of the rectangle formed by the vehicle 100.
  • the center of the circle is the same as the center of the rectangle.
  • the radius 'R' of the 'safe circle' is hence given as
  • R radius of safe circle
  • D diameter of safe circle 302
  • d length of hypotenuse of the rectangle shaped vehicle
  • SD is the safe distance to be maintained on all sides of the subject vehicle.
  • Figures 4.a and 4.b illustrates the schematics of calculating radius of motion of vehicle with a particular change in steering angle to effect a turn.
  • Figure 4. a illustrates footprint of vehicle 100 with wheels 400, 402, 403 and 404 parallel to line 401 which represents the longitudinal axis of the vehicle 100.
  • Figure 5 illustrates the schematics of forces acting on a vehicle 100 when it undertakes a turn 501. According to classical laws in physics, to avoid skidding of the vehicle 100, the static friction should be less than the limiting friction
  • Figure 7 further illustrates the coordination of function among sensors in the assisting lane change maneuver by vehicle 100.
  • the lane change assist is aimed at assisting the driver when he wants to change the lane willingly. It warns the driver of any vehicle in the blind spot zone or any approaching vehicle, when the driver wants to change lane willingly.
  • the sensors 108, 109, 110 and 111 are actuated following the stimulus of such maneuver.
  • the sensors 112 and 101 warn the driver when he intends to change the lane to the left, but some part of the front of the vehicle comes within safe distance of the vehicle 114.
  • Sensors 108, 109, 110 and 111 warn the driver of vehicle available in blind spot 115, as well as any approaching vehicle.
  • sensors 108, 109, 110 and 111 it is possible to detect vehicles in the blind spot of the subject vehicle.
  • sensor 111 corresponds to sensing vehicles in the blind spot. This sensor does not get any strong reflections, which means that there is no vehicle in the blind spot.
  • sensors 109 & 110 get reflections from the vehicle 113, which means that there is a vehicle present to the left of the subject vehicle.
  • speed and distance of the vehicle 113 with respect to the subject vehicle it is possible to assist the driver to change lane intentionally.
  • FIG. 7 illustrates another novel feature of the present invention, that each sensor can be assumed as the center of an imaginary circle of radius equal to the safe distance 'SD' required between the two vehicles. Ramification of this assumption can be realized from the scenarios wherein the subject vehicle is undertaking turn to its right or to its left.
  • Figure 8. a illustrates path of the subject vehicle when undertaking an overtaking maneuver.
  • changing lane to the left is allowed only when there is at least one sensor at the start (on the side) which does not sense any approaching vehicle.
  • sensor 110 shows an approaching vehicle, since it is not known where exactly the tip of the vehicle is in between sensors 110 and 111, it is assumed that the signal is actually from sensor 111 and not from sensor 110.
  • the derivation of the path to be taken by the vehicle in such a scenario is as given in Figure 8.
  • position of the tip is at (-1,0).
  • the distance 'd' as calculated from the center of the circle (0,0) to the left tip should be greater than 1, i.e d > 1.
  • the subject vehicle in this case, circle C
  • the locus of the center of the subject vehicle is such that the center of the subject vehicle which was at the position (0,0) before lane change moves along the locus G such that, after lane change has happened, the position of the tip now shifts to the bottom of the safe circle of the subject vehicle.
  • the new center of the subject vehicle is now (-1,1).
  • the equation of the locus G, the path which the subject vehicle should take is now given by the equation:
  • the driver is looking at an angle 45° to the lane or pavement on the road.
  • the center of locus is reflected from (-1,0) to a point about the tangent to the locus at 67.5°.
  • the new position of the center of locus is as shown in the figure 8.c.
  • the mirror image of the locus is obtained starting from the 45° position. This gives the complete locus of the subject vehicle under limiting condition. All the time, when the lane is being changed, if at any point, the sensors at the front, side or at the rear sense that any part of the surrounding vehicle is below safe distance 'SD', an alarm is generated. Thus, under no circumstance, is the safety of the driver jeopardized.
  • Figure 8.d further illustrates schematics of maintenance of safety distance 'SD' between vehicle 100 when undertaking an overtaking maneuver around vehicle 113.
  • the said overtaking maneuver requires the driver to follow a path inclusive of two curves, curve 801 in anti-clockwise direction to steer around vehicle 113 and curve 802, in clockwise direction, to orient vehicle 100 to the lane of vehicle 113.
  • Safety distance is to be maintained while maneuvering through the curves 801 and 802.
  • 'Y' is mirror image of center O' of subject vehicle having mirror plane 805.
  • 'p' and 'c' are points of intersection of circles with radius equal to unity and centers o and Y respectively.
  • x is distance between o and Y
  • a and b are points of intersection of circles 801 and 802 with straight line joining points o and Y.
  • 0.15225 is taken into account.
  • 1 is the normalized value of 'SD + 0.15225'.
  • the present invention is capable of wide applicability in industry and considering its adaptability towards various driving maneuvers and circumstances, it may be used in various modes such as lane change assist system, collision warning system, parking assist system, adaptive cruise control system, parallel parking assist system and door opening warning systems.
  • Adaptability towards different vehicles may be enabled by deciding optimal placement of sensors taking into consideration factors including size of the subject vehicle, shape of the subject vehicle, minimum size of the surrounding vehicle that should be detected, range of the sensors used and speed of the subject vehicle.
  • Figure 9 illustrates a console depicting a user interface 901 for the sensor system proposed by the present invention, It includes a graphic display 902 for depiction of positions, relative velocities and distances of adjacent vehicles 903, 904, 905 and 906 from subject vehicle 100. In case of any object in within the safe limits of the vehicle, warnings are issued, in this case, by lighting of warning lamps in the adjacent panel 908.
  • Figure 10 illustrates the door opening assist function enabled by sensor system of this invention.
  • vehicle 100 is parked between two parked vehicles 113 and 116. If the lateral distance between the vehicle 100 and vehicle 113 and / or vehicle 100 and vehicle 116 is less than the distance required to open the door, a warning signal is activated. Also, this warning is issued in case where there is an obstruction in the path of the door. The obstruction may be an external object or in some cases, body part of the individual boarding or alighting from the vehicle.
  • This function is enabled by ranging sensors 102, 103, 104, 105, 108, 109, 110 and 111 are used to sense obstacles during door opening.
  • the safety zones in this case would be areas under the safety arcs 1004, 1005, 1006 and 1007 as made by opening of the doors 1000, 1001, 1002 and 1003 respectively. Radius of circle of which the safety arc is a part, would be length of the respective doors. Unlocking of doors can be utilized as stimulus for selective actuation of sensors among the group of 102, 103, 104, 105, 108, 109, 110 and 111.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

La présente invention concerne un système embarqué et un procédé de mesure en temps réel de la vitesse relative et de la distance de séparation entre un véhicule sujet et des objets dans son entourage. La présente invention concerne un système comprenant une pluralité de capteurs servant à détecter, cartographier des positions, mesurer les distances et les vitesses relatives des objets autour d’un véhicule sujet et à envoyer des avertissements au conducteur sur des collisions imminentes et le chemin à suivre pendant différentes manœuvres.
EP08763436.6A 2008-07-01 2008-07-01 Système de capteurs pour sécurité de véhicule Withdrawn EP2319031A4 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IB2008/052646 WO2010001195A1 (fr) 2008-07-01 2008-07-01 Système de capteurs pour sécurité de véhicule

Publications (2)

Publication Number Publication Date
EP2319031A1 true EP2319031A1 (fr) 2011-05-11
EP2319031A4 EP2319031A4 (fr) 2014-01-08

Family

ID=41465528

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08763436.6A Withdrawn EP2319031A4 (fr) 2008-07-01 2008-07-01 Système de capteurs pour sécurité de véhicule

Country Status (3)

Country Link
EP (1) EP2319031A4 (fr)
CN (1) CN102160099A (fr)
WO (1) WO2010001195A1 (fr)

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SE535374C2 (sv) 2010-08-27 2012-07-10 Scania Cv Ab Säkerhetssystem och en säkerhetsmetod för trafiksituationsövervakning vid omkörning
CN102542845A (zh) * 2011-12-23 2012-07-04 奇瑞汽车股份有限公司 一种基于gps定位与车车通讯技术的变道预警系统及方法
KR102129588B1 (ko) * 2013-06-26 2020-07-02 현대모비스(주) 물체 인식 시스템
KR101892763B1 (ko) * 2013-10-08 2018-08-28 주식회사 만도 장애물 위치를 판단하는 방법과 장애물 위치 판단장치 및 주차 보조 방법과 주차 보조 시스템
CN103632574A (zh) * 2013-11-08 2014-03-12 广东侍卫长卫星应用安全股份公司 一种基于gps定位的防超速防撞预警系统
US9671495B2 (en) 2014-06-11 2017-06-06 Intersil Americas LLC Systems and methods for optical proximity detection with multiple field of views
ITRM20140615A1 (it) * 2014-10-30 2016-04-30 Moronesi Mario Sistema automatico per impedire gli incidenti stradali o per ridurne la gravita'
CN105355087A (zh) * 2015-11-19 2016-02-24 深圳前海达闼云端智能科技有限公司 一种车联网中车辆的控制方法、装置、系统及车辆
CN105427668B (zh) * 2015-11-24 2017-10-10 东南大学 一种确定驾驶人换道行为特性参数的方法和系统
US9953534B1 (en) * 2016-10-20 2018-04-24 Ford Global Technologies, Llc Vehicle collision warnings based on a time-to-collision
CN108859962A (zh) * 2018-06-12 2018-11-23 李良杰 行车安全提示装置
CN110503849A (zh) * 2019-07-04 2019-11-26 安徽鸿杰威尔停车设备有限公司 一种agv智能立体停车设备的停车系统
CN110764109A (zh) * 2019-10-29 2020-02-07 Oppo广东移动通信有限公司 车辆危险预警方法及相关产品

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Also Published As

Publication number Publication date
WO2010001195A1 (fr) 2010-01-07
CN102160099A (zh) 2011-08-17
EP2319031A4 (fr) 2014-01-08

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