EP2625064A1 - Method and system for warning of objects in the vicinity of a motor vehicle - Google Patents

Method and system for warning of objects in the vicinity of a motor vehicle

Info

Publication number
EP2625064A1
EP2625064A1 EP11830997.0A EP11830997A EP2625064A1 EP 2625064 A1 EP2625064 A1 EP 2625064A1 EP 11830997 A EP11830997 A EP 11830997A EP 2625064 A1 EP2625064 A1 EP 2625064A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
objects
warning
information
itinerary
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Withdrawn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
EP11830997.0A
Other languages
German (de)
French (fr)
Other versions
EP2625064A4 (en
Inventor
Anders Olsson
Koray Abatay
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.)
Scania CV AB
Original Assignee
Scania CV AB
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 Scania CV AB filed Critical Scania CV AB
Publication of EP2625064A1 publication Critical patent/EP2625064A1/en
Publication of EP2625064A4 publication Critical patent/EP2625064A4/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B60Q9/008—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling for anti-collision purposes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • B60Q1/52—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking for indicating emergencies
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/09626—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages where the origin of the information is within the own vehicle, e.g. a local storage device, digital map
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R2021/0065—Type of vehicles
    • B60R2021/0067—Buses

Definitions

  • the invention relates to a method for warning of objects in a traffic situation according to the preamble of claim 1 .
  • the invention relates also to a system for warning of objects in a traffic situation according to the preamble of claim 8.
  • the invention relates also to a motor vehicle.
  • a known warning system in cars detects unprotected road users such as pedestrians in front of the vehicle, whereupon the system according to a variant is adapted to automatically braking the vehicle to avoid colliding with them.
  • Buses in urban traffic owing to their size and weight and the fact that they often have them in their immediate vicinity, particularly at road intersections and bus stops, represent a substantial danger to unprotected road users and any accidents in such situations are still more likely to lead to serious injuries and fatalities.
  • An object of the present invention is to propose a method for warning of objects in the vicinity of a motor vehicle which does not disturb the driver unnecessarily, is cost-effective and makes it possible to identify objects such as unprotected road users.
  • a further object of the present invention is to propose a system for warning of objects in the vicinity of a motor vehicle which does not disturb the driver unnecessarily, is cost-effective and makes it possible to identify objects such as unprotected road users.
  • the object is achieved with a method for warning of objects in the vicinity of a motor vehicle provided with object detection, comprising the step of activating said object detection on the basis of vehicle information comprising information about the vehicle's location along its itinerary.
  • object detection e.g. detection of unprotected road users, in cases where detection is required, such that when detection is not required the driver is not disturbed unnecessarily by warning of objects.
  • said information about the vehicle's location is provided by a geographical position determination system, GPS.
  • GPS for activation of object detection makes it possible to activate object detection at a very exact location so that it only takes place when required, e.g. in accident-prone areas such as road intersections and bus stops where unprotected road users run substantial risk of being involved in an accident with the vehicle.
  • GPS is also cost-effective and is often integrated in vehicles.
  • said objects comprise
  • unprotected road users e.g. pedestrians and cyclists.
  • the risk of accidents due to collisions with unprotected road users may thus be reduced.
  • the step of activating said object detection on the basis of vehicle information comprising information about the vehicle's location along its itinerary refers to its location relative to particularly accident-prone areas along its itinerary. Safety in accident-prone areas is thus optimised while at the same time the driver is not disturbed
  • said particularly accident-prone areas comprise road intersections.
  • Road intersections are particularly accident-prone areas and catering for them makes it possible to reduce the accident risk at such locations.
  • said particularly accident-prone areas comprise starting and stopping locations, e.g. bus stops.
  • Bus stops are particularly accident-prone areas and catering for them makes it possible to reduce the accident risk at such locations.
  • said vehicle information comprises at least some of the following parameters: vehicle speed, brake status, direction indicator status, steering wheel deflection, yaw rate, lateral acceleration.
  • Activation may thus be optimised so that object detection, e.g. in the vicinity of a road intersection, is only activated when the vehicle is travelling at a certain speed or the driver intends to execute a turn, e.g. a right turn in right-hand traffic etc.
  • the system's sensitivity may thus be optimised according to the vehicle's location, speed etc. so that object detection is activated and different warnings are given on the basis of said parameters.
  • the object is also achieved with a system for warning of objects in the vicinity of motor vehicle provided with object detection means, comprising means for activating said object detection means on the basis of vehicle information comprising information about the vehicle's location along its itinerary.
  • object detection means which comprises object detection cameras adapted to, for example, detection of unprotected road users, in cases where detection is required, such that when no detection is required the driver is not disturbed unnecessarily by warning of objects.
  • said information about the vehicle's location is provided by a geographical position determination system, GPS.
  • GPS for activation of object detection makes it possible to activate it at a very exact location so that it only takes place when required, e.g. in accident-prone areas such as road intersections and bus stops where unprotected road users run substantial risk of being involved in an accident with the vehicle.
  • GPS is also cost-effective and is often integrated in vehicles.
  • said objects comprise
  • unprotected road users e.g. pedestrians and cyclists.
  • the risk of accidents due to collisions with unprotected road users may thus be reduced.
  • the step of activating said object detection on the basis of vehicle information comprising information about the vehicle's location along its itinerary refers to its location relative to particularly accident-prone areas along its itinerary. Safety in accident-prone areas is thus optimised while at the same time the driver is not disturbed
  • said particularly accident-prone areas comprise road intersections.
  • Road intersections are particularly accident-prone areas and catering for them makes it possible to reduce the accident risk at such locations.
  • said particularly accident-prone areas comprise starting and stopping locations, e.g. bus stops.
  • Bus stops are particularly accident-prone areas and catering for them makes it possible to reduce the accident risk at such locations.
  • said vehicle information comprises at least some of the following parameters: vehicle speed, brake status, direction indicator status, steering wheel deflection, yaw rate, lateral acceleration.
  • object detection means which comprises object detection cameras adapted to, for example, detection of unprotected road users, in cases where detection is required, such that when no detection is required the driver is not disturbed unnecessarily by warning of objects.
  • said object detection means comprises a camera provided with wide-angled lens. Effective detection of objects such as unprotected road users in the vehicle's vicinity is thus made possible. DESCRIPTION OF DRAWINGS
  • Fig. 1 is a schematic plan view of a motor vehicle according to the present invention at a road intersection;
  • Fig. 2a is a schematic block diagram of a system for warning of objects in the vicinity of a motor vehicle according to an embodiment of the present invention
  • Fig. 2b is a schematic block diagram of a system for warning of objects in the vicinity of a motor vehicle according to an embodiment of the present invention.
  • Fig. 3 illustrates schematically a method for warning of objects in the vicinity of a motor vehicle according to an embodiment of the present invention.
  • link refers herein to a communication link which may be a physical connection such as an opto-electronic communication line, or a non-physical connection such as a wireless connection, e.g. a radio link or microwave link.
  • Fig. 1 is a schematic plan view of a motor vehicle according to the present invention at a road intersection 10.
  • the exemplified vehicle 1 is a heavy vehicle in the form of a bus.
  • the vehicle may alternatively be a truck or a car.
  • the vehicle comprises a system for warning of objects in the vehicle's vicinity according to the present invention.
  • Fig. 1 depicts the vehicle 1 schematically in the form of a bus 1 at various phases I, II, III, IV in relation to a road intersection.
  • the traffic light 12 is showing green in the direction of movement of the bus at the intersection and that the bus is to execute a right turn at the intersection.
  • the approach phase the bus 1 is approaching an intersection.
  • the bus 1 is assumed to be travelling at a substantially constant speed, e.g. 50 km/h.
  • the bus 1 is assumed to be slowing down from said substantially constant speed to a lower speed, e.g. braking from a speed of about 50 km/h to a speed of about 25 km/h.
  • the bus 1 In the third phase III, the intersection approach phase, the bus 1 is about to enter the intersection and is travelling at a speed suited to executing a right turn, e.g. a speed below 25 km/h. In the fourth phase IV, the turning phase, the bus 1 is actually executing the right turn at a speed suited to doing so, e.g. below 25 km/h.
  • Fig. 2a is a schematic block diagram of a system 2A for warning of objects in the vicinity of a motor vehicle according to an embodiment of the present invention.
  • the system 2A comprises an electronic control unit 100 for controlling the vehicle's systems.
  • the electronic control unit 100 is signal-connected via a link to a vehicle information unit 200 which is adapted to monitoring vehicle information comprising information about the vehicle's location along its itinerary.
  • the electronic control unit 100 is adapted to receiving via the link a signal from the vehicle information unit 200 which represents vehicle information data comprising data about the vehicle's location along its itinerary.
  • Said vehicle location data are provided by a geographical position determination system, GPS.
  • the electronic control unit 100 is adapted to comparing said vehicle information data comprising said vehicle location data with predetermined vehicle criteria data.
  • the electronic control unit 100 is adapted, when said vehicle information data fulfils said vehicle criteria data, to sending via a link to an object warning unit 300 comprising object detection means signals which represent instructions to activate said object warning unit 300.
  • Fig. 2b is a schematic block diagram of a system 2B which is a variant of the system for warning of objects in the vicinity of a motor vehicle in Fig. 2a according to an embodiment of the present invention.
  • the vehicle is a schematic block diagram of a system 2B which is a variant of the system for warning of objects in the vicinity of a motor vehicle in Fig. 2a according to an embodiment of the present invention.
  • the information unit 200 comprises according to this embodiment not only a GPS 210 but also a vehicle speed determination means 220, a brake status determination means 230, a direction indicator status means 240, a steering wheel deflection monitoring means 250, a yaw rate determination means 260 and/or a lateral acceleration determination means 270.
  • the electronic control unit 100 is signal-connected via a link 21 1 to said GPS 210 which is adapted to monitoring the vehicle's location along its itinerary.
  • the electronic control unit 100 is adapted to receiving from said GPS 210 via the link 21 1 a signal which represents data about the vehicle's location along its itinerary.
  • the electronic control unit 100 is signal-connected via a link 221 to said vehicle speed determination means 220 which is adapted to monitoring the vehicle's speed.
  • the electronic control unit 100 is adapted to receiving from said vehicle speed determination means 220 via the link 221 a signal which represents data about the vehicle's speed.
  • the electronic control unit 100 is signal-connected via a link 231 to said brake status determination means 230 which is adapted to monitoring the vehicle's speed decrease/braking/retardation.
  • the electronic control unit 100 is adapted to receiving from said brake status determination means 230 via the link 231 a signal which represents retardation data about the vehicle's speed decrease/braking/retardation.
  • the electronic control unit 100 is signal-connected via a link 241 to said direction indicator status means 240 which is adapted to monitoring the vehicle's intended direction of movement.
  • the electronic control unit 100 is adapted to receiving from said direction indicator status means 240 via the link 241 a signal which represents direction indicating data about the vehicle's speed.
  • the electronic control unit 100 is signal-connected via a link 251 to said steering wheel deflection monitoring means 250 which is adapted to monitoring the deflection of the vehicle's steering wheel.
  • the electronic control unit 100 is adapted to receiving from said steering wheel deflection monitoring means 250 via the link 251 a signal which represents data about the deflection of the vehicle's steering wheel, i.e. steering wheel angles for turning the vehicle.
  • the electronic control unit 100 is signal-connected via a link 261 to said yaw rate determination means 260 which is adapted to monitoring the vehicle's vertical rotation and to sending signals via electronic control unit to the vehicle's brake system to avoid skidding of the vehicle.
  • the electronic control unit 100 is adapted to receiving from said yaw angle determination means 260 via the link 261 a signal which represents yaw angle data about the vehicle's vertical rotation.
  • the electronic control unit 100 is signal-connected via a link 271 to said lateral acceleration determination means 270 which is adapted to monitoring the vehicle's lateral acceleration.
  • the electronic control unit 100 is adapted to receiving from said lateral acceleration determination means 270 via the link 271 a signal which represents data about the vehicle's lateral acceleration.
  • the object warning unit 300 comprises an object detection camera 310 which, when activated, is adapted to detecting in the vehicle's vicinity objects such as unprotected road users, e.g. pedestrians and cyclists.
  • the electronic control unit 100 is signal-connected via a link 31 1 to said object detection camera 310.
  • the electronic control unit 100 is adapted to comparing said vehicle location data with predetermined vehicle speed data.
  • the electronic control unit 100 is adapted to comparing said vehicle speed data with predetermined vehicle speed data.
  • the electronic control unit 100 is adapted to comparing said retardation data with predetermined retardation data.
  • the electronic control unit 100 is adapted to comparing said direction indicating data with predetermined direction indicating data.
  • the electronic control unit 100 is adapted to comparing said steering wheel deflection data with predetermined steering wheel deflection data.
  • the electronic control unit 100 is adapted to comparing said yaw rate data with predetermined yaw rate data.
  • the electronic control unit 100 is adapted to comparing said lateral acceleration data with predetermined lateral acceleration data.
  • vehicle location data fulfil said predetermined vehicle location data, and at least one of said predetermined data for vehicle speed, retardation, direction of movement, steering wheel deflection, yaw rate or lateral acceleration is fulfilled
  • the electronic control unit 100 is adapted to sending to said object detection camera 310 via a link 31 1 signals which represent instructions to activate said camera.
  • the object warning unit 300 further comprises an object indicating unit 300a for drawing attention to said objects/unprotected road users.
  • Said object indicating unit 300a comprises, according to a variant, passive indicating means 300b for drawing the driver's attention to said objects/unprotected road users.
  • Said object indicating unit 300a comprises according to a variant active indicating means 300c for drawing the vehicle's attention to said objects/unprotected road users for automatic action by the vehicle.
  • Said passive indicating means 300b comprises visual display means 320, acoustic means 330, steering wheel angle influencing means 340, driving seat influencing means 350 and/or accelerator pedal influencing means 360.
  • Said active indicating means 300c comprises automatic brake means 370 and/or automatic evasive action means 380.
  • the electronic control unit 100 is signal-connected to said object indicating unit 300a which, when activated, is adapted to informing about objects in the vehicle's vicinity.
  • the electronic control unit 100 is signal-connected to said passive indicating means 300b which, when activated, are adapted to informing about objects in the vehicle's vicinity.
  • the electronic control unit 100 is signal-connected via a link 321 to said visual display means 320 which is adapted to visually warning the driver of objects, which visual warning may take the form of flashing lights or lights of distinctive colour such as red on the instrument panel and/or windscreen and/or take the form of icons/symbols for objects on the instrument panel and/or the windscreen.
  • the electronic control unit 100 is signal-connected via a link 331 to said acoustic means 330 which is adapted to acoustically warning the driver of objects.
  • the electronic control unit 100 is signal-connected via a link 341 to said steering wheel angle influencing means 340 which is adapted to warning the driver of objects by altering the inertia in the steering wheel, i.e. its resistance to turning.
  • the electronic control unit 100 is signal-connected via a link 351 to said driving seat influencing means 350 which is adapted to warning the driver of objects by altering the sensation in the driving seat.
  • the electronic control unit 100 is signal-connected via a link 361 to said accelerator pedal influencing means 360 which is adapted to warning the driver of objects by altering the sensation in the accelerator pedal.
  • the electronic control unit 100 is signal-connected to said active indicating means 300c which, when activated, is adapted to automatically acting upon the vehicle.
  • the electronic control unit 100 is signal-connected via a link 371 to said automatic brake means 370 which are adapted, when activated, to
  • the electronic control unit 100 is signal-connected via a link 381 to said automatic evasive manoeuvre means 380, which are adapted, when activated, to automatically executing an evasive manoeuvre of the vehicle.
  • the electronic control unit 100 is signal-connected via a link 312 to said object detection camera 310 which is adapted to monitoring
  • the electronic control unit 100 is adapted to receiving from said camera 310 via the link 312 a signal which represents object detection data about objects/unprotected road users in the vehicle's vicinity.
  • the electronic control unit 100 is adapted to processing said object detection data in order to identify the object detected.
  • the electronic control unit 100 is adapted to sending to said object indicating unit 300a signals which represent object identification data and serve as instructions to activate said object indicating unit.
  • the electronic control unit 100 is adapted to sending via a respective link signals which represent object identification data to at least one from among said visual display means 320, acoustic means 330, steering wheel angle influencing means 340, driving seat influencing means 350 and accelerator pedal influencing means 360.
  • the electronic control unit 100 is adapted to sending, via a respective link, signals which represent object identification data to at least one from among said automatic brake means 370 and automatic evasive manoeuvre means 380.
  • the GPS unit 210 of the system 2A, 2B is adapted to assuming different states depending on which of phases I, II, III, IV the vehicle is in, such that the GPS unit assumes an approach state in the first phase I, a retardation state in the second phase II, an intersection approach state in the third phase III and a turning state in the fourth phase IV.
  • the GPS unit may be adapted to assuming different states in different phases at bus stops, which states and/or phases may differ from those at road intersections.
  • Said passive indicating means 300b and active indicating means 300c may be activated differently, depending on data from the object detection camera 310, so that when a collision with an object is imminent the active indicating means 300c is activated so that the vehicle automatically brakes and/or automatically executes an evasive manoeuvre, and when there is an object in the vehicle's vicinity but no collision with it is imminent, various means of the passive indicating means are activated and to different degrees depending on the situation.
  • Fig. 3 depicts schematically a method for warning of objects in the vicinity of a motor vehicle according to an embodiment of the present invention.
  • the method for warning of objects in the vicinity of a motor vehicle comprises a first step S1 .
  • This step determines vehicle information comprising information about the vehicle's location along its itinerary.
  • the vehicle's location along its itinerary is provided by a first step S1 .
  • Said vehicle information further comprises, according to a variant, any from among the parameters of vehicle speed, brake status, direction indicator status, steering wheel deflection, yaw rate and lateral acceleration.
  • the method for warning of objects in the vicinity of a motor vehicle comprises a second step S2.
  • This step compares said vehicle information with a predetermined vehicle criterion comprising the vehicle's location relative to an accident-prone area along its itinerary.
  • Said vehicle criterion further comprises, according to a variant, the vehicle travelling at below a certain speed, e.g. 25 km/h, the vehicle retarding, the direction indicator indicating that the vehicle is turning/intending to turn, the deflection of its steering wheel indicating that the vehicle is turning/intending to turn, etc.
  • the method for warning of objects in the vicinity of a motor vehicle comprises a third step S3. This step investigates whether the vehicle information determined fulfils said predetermined vehicle criterion. If said predetermined vehicle criterion is fulfilled, a fourth step S4 activates an object warning unit comprising a object detection camera for detecting objects, especially unprotected road users, e.g. pedestrians or cyclists, who are in said accident-prone areas such as a road intersection or a bus stop. If said predetermined vehicle criterion is not fulfilled, a fifth step S5
  • a sixth step S6 deactivates it.

Abstract

The invention relates to a method for warning of objects in the vicinity of a motor vehicle provided with object detection, comprising the step of activating (S4) said object detection on the basis (S3) of vehicle information comprising information about the vehicle's location along its itinerary. The invention relates also to a system for warning of objects in the vicinity of a motor vehicle. The invention relates also to a motor vehicle.

Description

METHOD AND SYSTEM FOR WARNING OF OBJECTS IN
THE VICINITY OF A MOTOR VEHICLE
TECHNICAL FIELD The invention relates to a method for warning of objects in a traffic situation according to the preamble of claim 1 . The invention relates also to a system for warning of objects in a traffic situation according to the preamble of claim 8. The invention relates also to a motor vehicle.
BACKGROUND Motor vehicles in urban traffic operate in an environment in which there are many unprotected road users such as pedestrians and cyclists. Collisions between such road users and vehicles often lead to serious injuries to and sometimes deaths of unprotected road users. To reduce the number of accidents between motor vehicles and unprotected road users, vehicles, particularly cars, have been equipped with warning systems. A known warning system in cars detects unprotected road users such as pedestrians in front of the vehicle, whereupon the system according to a variant is adapted to automatically braking the vehicle to avoid colliding with them.
Buses in urban traffic, owing to their size and weight and the fact that they often have them in their immediate vicinity, particularly at road intersections and bus stops, represent a substantial danger to unprotected road users and any accidents in such situations are still more likely to lead to serious injuries and fatalities.
A problem in detecting unprotected road users in front of a vehicle is that in the case of buses and other heavy vehicles this is not sufficient, as detection all round the whole vehicle is important. Attempts have been made to use systems for detection of objects all round a bus, but there is a problem in that such systems often tend to be oversensitive and be activated by irrelevant objects.
OBJECT OF THE INVENTION An object of the present invention is to propose a method for warning of objects in the vicinity of a motor vehicle which does not disturb the driver unnecessarily, is cost-effective and makes it possible to identify objects such as unprotected road users.
A further object of the present invention is to propose a system for warning of objects in the vicinity of a motor vehicle which does not disturb the driver unnecessarily, is cost-effective and makes it possible to identify objects such as unprotected road users.
SUMMARY OF THE INVENTION This and other objects indicated by the description below are achieved by a method and a system for warning of objects in the vicinity of a motor vehicle, and by a motor vehicle of the kind indicated in the introduction which has also the features indicated in the characterising part of the attached independent claims 1 and 8. Preferred embodiments of the method, the system and the vehicle are defined in the attached dependent claims 2-7, 9-15 and 17.
According to the invention, the object is achieved with a method for warning of objects in the vicinity of a motor vehicle provided with object detection, comprising the step of activating said object detection on the basis of vehicle information comprising information about the vehicle's location along its itinerary. This makes it possible to activate object detection, e.g. detection of unprotected road users, in cases where detection is required, such that when detection is not required the driver is not disturbed unnecessarily by warning of objects.
According to an embodiment of the method, said information about the vehicle's location is provided by a geographical position determination system, GPS. Using GPS for activation of object detection makes it possible to activate object detection at a very exact location so that it only takes place when required, e.g. in accident-prone areas such as road intersections and bus stops where unprotected road users run substantial risk of being involved in an accident with the vehicle. GPS is also cost-effective and is often integrated in vehicles.
According to an embodiment of the method, said objects comprise
unprotected road users, e.g. pedestrians and cyclists. The risk of accidents due to collisions with unprotected road users may thus be reduced.
According to an embodiment of the method, the step of activating said object detection on the basis of vehicle information comprising information about the vehicle's location along its itinerary refers to its location relative to particularly accident-prone areas along its itinerary. Safety in accident-prone areas is thus optimised while at the same time the driver is not disturbed
unnecessarily in areas which are not accident-prone. According to an embodiment of the method, said particularly accident-prone areas comprise road intersections. Road intersections are particularly accident-prone areas and catering for them makes it possible to reduce the accident risk at such locations.
According to an embodiment of the method, said particularly accident-prone areas comprise starting and stopping locations, e.g. bus stops. Bus stops are particularly accident-prone areas and catering for them makes it possible to reduce the accident risk at such locations. According to an embodiment of the method, said vehicle information comprises at least some of the following parameters: vehicle speed, brake status, direction indicator status, steering wheel deflection, yaw rate, lateral acceleration. Activation may thus be optimised so that object detection, e.g. in the vicinity of a road intersection, is only activated when the vehicle is travelling at a certain speed or the driver intends to execute a turn, e.g. a right turn in right-hand traffic etc. This makes it possible accordingly to further optimise the occasions for object detection to be activated so that the driver is disturbed minimally while at the same time the accident risk in highly accident-prone areas is reduced. The system's sensitivity may thus be optimised according to the vehicle's location, speed etc. so that object detection is activated and different warnings are given on the basis of said parameters.
According to the invention, the object is also achieved with a system for warning of objects in the vicinity of motor vehicle provided with object detection means, comprising means for activating said object detection means on the basis of vehicle information comprising information about the vehicle's location along its itinerary. This makes it possible to activate the object detection means which comprises object detection cameras adapted to, for example, detection of unprotected road users, in cases where detection is required, such that when no detection is required the driver is not disturbed unnecessarily by warning of objects.
According to an embodiment of the system, said information about the vehicle's location is provided by a geographical position determination system, GPS. Using GPS for activation of object detection makes it possible to activate it at a very exact location so that it only takes place when required, e.g. in accident-prone areas such as road intersections and bus stops where unprotected road users run substantial risk of being involved in an accident with the vehicle. GPS is also cost-effective and is often integrated in vehicles. According to an embodiment of the system, said objects comprise
unprotected road users, e.g. pedestrians and cyclists. The risk of accidents due to collisions with unprotected road users may thus be reduced.
According to an embodiment of the system, the step of activating said object detection on the basis of vehicle information comprising information about the vehicle's location along its itinerary refers to its location relative to particularly accident-prone areas along its itinerary. Safety in accident-prone areas is thus optimised while at the same time the driver is not disturbed
unnecessarily in areas which are not accident-prone. According to an embodiment of the system, said particularly accident-prone areas comprise road intersections. Road intersections are particularly accident-prone areas and catering for them makes it possible to reduce the accident risk at such locations.
According to an embodiment of the system, said particularly accident-prone areas comprise starting and stopping locations, e.g. bus stops. Bus stops are particularly accident-prone areas and catering for them makes it possible to reduce the accident risk at such locations.
According to an embodiment of the system, said vehicle information comprises at least some of the following parameters: vehicle speed, brake status, direction indicator status, steering wheel deflection, yaw rate, lateral acceleration. This makes it possible to activate the object detection means which comprises object detection cameras adapted to, for example, detection of unprotected road users, in cases where detection is required, such that when no detection is required the driver is not disturbed unnecessarily by warning of objects.
According to an embodiment of the system, said object detection means comprises a camera provided with wide-angled lens. Effective detection of objects such as unprotected road users in the vehicle's vicinity is thus made possible. DESCRIPTION OF DRAWINGS
The present invention will be better understood by reading the following detailed description together with the attached drawings, in which the same reference notations are used for similar items throughout the various views, in which:
Fig. 1 is a schematic plan view of a motor vehicle according to the present invention at a road intersection;
Fig. 2a is a schematic block diagram of a system for warning of objects in the vicinity of a motor vehicle according to an embodiment of the present invention;
Fig. 2b is a schematic block diagram of a system for warning of objects in the vicinity of a motor vehicle according to an embodiment of the present invention; and
Fig. 3 illustrates schematically a method for warning of objects in the vicinity of a motor vehicle according to an embodiment of the present invention.
DESCRIPTION OF EMBODIMENTS
The term "link" refers herein to a communication link which may be a physical connection such as an opto-electronic communication line, or a non-physical connection such as a wireless connection, e.g. a radio link or microwave link.
Fig. 1 is a schematic plan view of a motor vehicle according to the present invention at a road intersection 10. The exemplified vehicle 1 is a heavy vehicle in the form of a bus. The vehicle may alternatively be a truck or a car. The vehicle comprises a system for warning of objects in the vehicle's vicinity according to the present invention. Fig. 1 depicts the vehicle 1 schematically in the form of a bus 1 at various phases I, II, III, IV in relation to a road intersection. In this example it is assumed that the traffic light 12 is showing green in the direction of movement of the bus at the intersection and that the bus is to execute a right turn at the intersection.
In the first phase I, the approach phase, the bus 1 is approaching an intersection. In this phase the bus 1 is assumed to be travelling at a substantially constant speed, e.g. 50 km/h.
In the second phase II, the braking phase, the bus 1 is assumed to be slowing down from said substantially constant speed to a lower speed, e.g. braking from a speed of about 50 km/h to a speed of about 25 km/h.
In the third phase III, the intersection approach phase, the bus 1 is about to enter the intersection and is travelling at a speed suited to executing a right turn, e.g. a speed below 25 km/h. In the fourth phase IV, the turning phase, the bus 1 is actually executing the right turn at a speed suited to doing so, e.g. below 25 km/h.
Fig. 2a is a schematic block diagram of a system 2A for warning of objects in the vicinity of a motor vehicle according to an embodiment of the present invention. The system 2A comprises an electronic control unit 100 for controlling the vehicle's systems. The electronic control unit 100 is signal-connected via a link to a vehicle information unit 200 which is adapted to monitoring vehicle information comprising information about the vehicle's location along its itinerary. The electronic control unit 100 is adapted to receiving via the link a signal from the vehicle information unit 200 which represents vehicle information data comprising data about the vehicle's location along its itinerary. Said vehicle location data are provided by a geographical position determination system, GPS. The electronic control unit 100 is adapted to comparing said vehicle information data comprising said vehicle location data with predetermined vehicle criteria data. The electronic control unit 100 is adapted, when said vehicle information data fulfils said vehicle criteria data, to sending via a link to an object warning unit 300 comprising object detection means signals which represent instructions to activate said object warning unit 300.
Fig. 2b is a schematic block diagram of a system 2B which is a variant of the system for warning of objects in the vicinity of a motor vehicle in Fig. 2a according to an embodiment of the present invention. The vehicle
information unit 200 comprises according to this embodiment not only a GPS 210 but also a vehicle speed determination means 220, a brake status determination means 230, a direction indicator status means 240, a steering wheel deflection monitoring means 250, a yaw rate determination means 260 and/or a lateral acceleration determination means 270. The electronic control unit 100 is signal-connected via a link 21 1 to said GPS 210 which is adapted to monitoring the vehicle's location along its itinerary. The electronic control unit 100 is adapted to receiving from said GPS 210 via the link 21 1 a signal which represents data about the vehicle's location along its itinerary. The electronic control unit 100 is signal-connected via a link 221 to said vehicle speed determination means 220 which is adapted to monitoring the vehicle's speed. The electronic control unit 100 is adapted to receiving from said vehicle speed determination means 220 via the link 221 a signal which represents data about the vehicle's speed. The electronic control unit 100 is signal-connected via a link 231 to said brake status determination means 230 which is adapted to monitoring the vehicle's speed decrease/braking/retardation. The electronic control unit 100 is adapted to receiving from said brake status determination means 230 via the link 231 a signal which represents retardation data about the vehicle's speed decrease/braking/retardation.
The electronic control unit 100 is signal-connected via a link 241 to said direction indicator status means 240 which is adapted to monitoring the vehicle's intended direction of movement. The electronic control unit 100 is adapted to receiving from said direction indicator status means 240 via the link 241 a signal which represents direction indicating data about the vehicle's speed.
The electronic control unit 100 is signal-connected via a link 251 to said steering wheel deflection monitoring means 250 which is adapted to monitoring the deflection of the vehicle's steering wheel. The electronic control unit 100 is adapted to receiving from said steering wheel deflection monitoring means 250 via the link 251 a signal which represents data about the deflection of the vehicle's steering wheel, i.e. steering wheel angles for turning the vehicle.
The electronic control unit 100 is signal-connected via a link 261 to said yaw rate determination means 260 which is adapted to monitoring the vehicle's vertical rotation and to sending signals via electronic control unit to the vehicle's brake system to avoid skidding of the vehicle. The electronic control unit 100 is adapted to receiving from said yaw angle determination means 260 via the link 261 a signal which represents yaw angle data about the vehicle's vertical rotation.
The electronic control unit 100 is signal-connected via a link 271 to said lateral acceleration determination means 270 which is adapted to monitoring the vehicle's lateral acceleration. The electronic control unit 100 is adapted to receiving from said lateral acceleration determination means 270 via the link 271 a signal which represents data about the vehicle's lateral acceleration. The object warning unit 300 comprises an object detection camera 310 which, when activated, is adapted to detecting in the vehicle's vicinity objects such as unprotected road users, e.g. pedestrians and cyclists.
The electronic control unit 100 is signal-connected via a link 31 1 to said object detection camera 310.
The electronic control unit 100 is adapted to comparing said vehicle location data with predetermined vehicle speed data.
The electronic control unit 100 is adapted to comparing said vehicle speed data with predetermined vehicle speed data. The electronic control unit 100 is adapted to comparing said retardation data with predetermined retardation data.
The electronic control unit 100 is adapted to comparing said direction indicating data with predetermined direction indicating data.
The electronic control unit 100 is adapted to comparing said steering wheel deflection data with predetermined steering wheel deflection data.
The electronic control unit 100 is adapted to comparing said yaw rate data with predetermined yaw rate data.
The electronic control unit 100 is adapted to comparing said lateral acceleration data with predetermined lateral acceleration data. When said vehicle location data fulfil said predetermined vehicle location data, and at least one of said predetermined data for vehicle speed, retardation, direction of movement, steering wheel deflection, yaw rate or lateral acceleration is fulfilled, the electronic control unit 100 is adapted to sending to said object detection camera 310 via a link 31 1 signals which represent instructions to activate said camera. The object warning unit 300 further comprises an object indicating unit 300a for drawing attention to said objects/unprotected road users. Said object indicating unit 300a comprises, according to a variant, passive indicating means 300b for drawing the driver's attention to said objects/unprotected road users. Said object indicating unit 300a comprises according to a variant active indicating means 300c for drawing the vehicle's attention to said objects/unprotected road users for automatic action by the vehicle.
Said passive indicating means 300b comprises visual display means 320, acoustic means 330, steering wheel angle influencing means 340, driving seat influencing means 350 and/or accelerator pedal influencing means 360.
Said active indicating means 300c comprises automatic brake means 370 and/or automatic evasive action means 380.
The electronic control unit 100 is signal-connected to said object indicating unit 300a which, when activated, is adapted to informing about objects in the vehicle's vicinity.
The electronic control unit 100 is signal-connected to said passive indicating means 300b which, when activated, are adapted to informing about objects in the vehicle's vicinity.
The electronic control unit 100 is signal-connected via a link 321 to said visual display means 320 which is adapted to visually warning the driver of objects, which visual warning may take the form of flashing lights or lights of distinctive colour such as red on the instrument panel and/or windscreen and/or take the form of icons/symbols for objects on the instrument panel and/or the windscreen. The electronic control unit 100 is signal-connected via a link 331 to said acoustic means 330 which is adapted to acoustically warning the driver of objects. The electronic control unit 100 is signal-connected via a link 341 to said steering wheel angle influencing means 340 which is adapted to warning the driver of objects by altering the inertia in the steering wheel, i.e. its resistance to turning. The electronic control unit 100 is signal-connected via a link 351 to said driving seat influencing means 350 which is adapted to warning the driver of objects by altering the sensation in the driving seat.
The electronic control unit 100 is signal-connected via a link 361 to said accelerator pedal influencing means 360 which is adapted to warning the driver of objects by altering the sensation in the accelerator pedal.
The electronic control unit 100 is signal-connected to said active indicating means 300c which, when activated, is adapted to automatically acting upon the vehicle.
The electronic control unit 100 is signal-connected via a link 371 to said automatic brake means 370 which are adapted, when activated, to
automatically braking the vehicle.
The electronic control unit 100 is signal-connected via a link 381 to said automatic evasive manoeuvre means 380, which are adapted, when activated, to automatically executing an evasive manoeuvre of the vehicle. The electronic control unit 100 is signal-connected via a link 312 to said object detection camera 310 which is adapted to monitoring
objects/unprotected road users in the vehicle's vicinity. The electronic control unit 100 is adapted to receiving from said camera 310 via the link 312 a signal which represents object detection data about objects/unprotected road users in the vehicle's vicinity. The electronic control unit 100 is adapted to processing said object detection data in order to identify the object detected.
When said object detection data fulfil specific object identification criteria, the electronic control unit 100 is adapted to sending to said object indicating unit 300a signals which represent object identification data and serve as instructions to activate said object indicating unit.
When said object detection data fulfil specific object identification criteria, the electronic control unit 100 is adapted to sending via a respective link signals which represent object identification data to at least one from among said visual display means 320, acoustic means 330, steering wheel angle influencing means 340, driving seat influencing means 350 and accelerator pedal influencing means 360.
When said object detection data fulfil specific object identification criteria, the electronic control unit 100 is adapted to sending, via a respective link, signals which represent object identification data to at least one from among said automatic brake means 370 and automatic evasive manoeuvre means 380.
According to a variant, with reference to Fig. 1 , the GPS unit 210 of the system 2A, 2B is adapted to assuming different states depending on which of phases I, II, III, IV the vehicle is in, such that the GPS unit assumes an approach state in the first phase I, a retardation state in the second phase II, an intersection approach state in the third phase III and a turning state in the fourth phase IV. This makes it possible for the system to indicate different warning signals/warning levels depending on the state of the GPS unit. Similarly, the GPS unit may be adapted to assuming different states in different phases at bus stops, which states and/or phases may differ from those at road intersections.
Said passive indicating means 300b and active indicating means 300c may be activated differently, depending on data from the object detection camera 310, so that when a collision with an object is imminent the active indicating means 300c is activated so that the vehicle automatically brakes and/or automatically executes an evasive manoeuvre, and when there is an object in the vehicle's vicinity but no collision with it is imminent, various means of the passive indicating means are activated and to different degrees depending on the situation.
Fig. 3 depicts schematically a method for warning of objects in the vicinity of a motor vehicle according to an embodiment of the present invention. According to an embodiment, the method for warning of objects in the vicinity of a motor vehicle comprises a first step S1 . This step determines vehicle information comprising information about the vehicle's location along its itinerary. The vehicle's location along its itinerary is provided by a
geographical position determination system known as GPS. Said vehicle information further comprises, according to a variant, any from among the parameters of vehicle speed, brake status, direction indicator status, steering wheel deflection, yaw rate and lateral acceleration.
According to an embodiment, the method for warning of objects in the vicinity of a motor vehicle comprises a second step S2. This step compares said vehicle information with a predetermined vehicle criterion comprising the vehicle's location relative to an accident-prone area along its itinerary. Said vehicle criterion further comprises, according to a variant, the vehicle travelling at below a certain speed, e.g. 25 km/h, the vehicle retarding, the direction indicator indicating that the vehicle is turning/intending to turn, the deflection of its steering wheel indicating that the vehicle is turning/intending to turn, etc.
According to an embodiment, the method for warning of objects in the vicinity of a motor vehicle comprises a third step S3. This step investigates whether the vehicle information determined fulfils said predetermined vehicle criterion. If said predetermined vehicle criterion is fulfilled, a fourth step S4 activates an object warning unit comprising a object detection camera for detecting objects, especially unprotected road users, e.g. pedestrians or cyclists, who are in said accident-prone areas such as a road intersection or a bus stop. If said predetermined vehicle criterion is not fulfilled, a fifth step S5
investigates whether the object warning unit is already activated from before.
If said predetermined vehicle criterion is not fulfilled and the object warning unit is activated from before, a sixth step S6 deactivates it. The above description of the preferred embodiments of the present invention is for illustrative and descriptive purposes. It is not intended to be exhaustive nor to restrict the invention to the variants described. Many modifications and variations will obviously suggest themselves to specialists. The embodiments were chosen and described in order best to explain the principles of the invention and practical applications thereof, and thereby make it possible for one skilled in the art to understand the invention for different embodiments and with the various modifications appropriate to the intended use.

Claims

1 . A method for avoidance of traffic accidents during operation of a motor vehicle, comprising the step of detecting and thereupon warning of objects in the vehicle's vicinity, characterised in that activation (S4) of detection and, where appropriate, warning of objects in the vehicle's vicinity take place on the basis (S3) of vehicle information comprising information about the vehicle's location along its itinerary, for adaptation of detection sensitivity and warning sensitivity to the vehicle's itinerary.
2. A method according to claim 1 , whereby said information about the vehicle's location is provided by a geographical position determination system, GPS (210).
3. A method according to claim 1 or 2, whereby said objects comprise unprotected road users, e.g. pedestrians and cyclists.
4. A method according to any one of claims 1 -3, whereby the step of activating said object detection on the basis of vehicle information comprising information about the vehicle's location along its itinerary refers to its location relative to particularly accident-prone areas along its itinerary.
5. A method according to claim 4, whereby said particularly accident-prone areas comprise road intersections (10).
6. A method according to claim 4, whereby said particularly accident-prone areas comprise stopping and starting locations, e.g. bus stops
7. A method according to any one of the foregoing claims, whereby said vehicle information comprises at least one from among the parameters of vehicle speed, brake status, direction indicator status, steering wheel deflection, yaw rate and lateral acceleration.
8. A system for avoidance of traffic accidents during operation of a motor vehicle, comprising means (300, 310) for detecting and thereupon warning of objects in the vehicle's vicinity, characterised by means (100, 200, 210, 220, 230, 240, 250, 260, 270) for activation (S4) of means (300, 310) for detecting and thereupon, where appropriate, warning of objects in the vehicle's vicinity on the basis of vehicle information comprising information about the vehicle's location along its itinerary, for adaptation of the system's detection sensitivity and warning sensitivity to the vehicle's itinerary.
9. A system according to claim 8, in which said information about the vehicle's location is arranged to be provided by a geographical position determination system, GPS (210).
10. A system according to claim 8 or 9, in which said objects comprise unprotected road users, e.g. pedestrians and cyclists.
1 1 . A system according to any one of claims 8-10, in which said means (100, 200, 210, 220, 230, 240, 250, 260, 270) for activating said object detection means (300, 310) on the basis of vehicle information comprising information about the vehicle's location along its itinerary refers to its location relative to particularly accident-prone areas along its itinerary.
12. A system according to claim 1 1 , in which said particularly accident-prone areas comprise road intersections.
13. A system according to claim 1 1 , in which said particularly accident-prone areas comprise stopping and starting locations, e.g. bus stops
14. A system according to any one of claims 8-13, in which said vehicle information comprises at least one from among the parameters of vehicle speed, brake status, direction indicator status, steering wheel deflection, yaw rate and lateral acceleration.
15. A system according to any one of claims 8-14, in which said object detection means comprises a camera provided with wide-angle lens.
16. A motor vehicle comprising a system according to any one of claims 8-15.
17. A motor vehicle according to claim 16, which vehicle takes the form of a bus.
EP11830997.0A 2010-10-07 2011-09-30 Method and system for warning of objects in the vicinity of a motor vehicle Withdrawn EP2625064A4 (en)

Applications Claiming Priority (2)

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SE1051050A SE535225C2 (en) 2010-10-07 2010-10-07 Procedure and warning system for objects in connection with a motor vehicle
PCT/SE2011/051165 WO2012047152A1 (en) 2010-10-07 2011-09-30 Method and system for warning of objects in the vicinity of a motor vehicle

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EP2625064A4 (en) 2018-04-11
SE535225C2 (en) 2012-05-29
WO2012047152A1 (en) 2012-04-12
BR112013006576A2 (en) 2016-06-14

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