Classifications

• • G—PHYSICS
  • G08—SIGNALLING
  • G08G—TRAFFIC CONTROL SYSTEMS
  • G08G1/00—Traffic control systems for road vehicles
  • G08G1/16—Anti-collision systems
  • G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees

Definitions

• the present disclosure relates to an obstacle warning system for a vehicle, a method for issuing an obstacle warning by an obstacle warning system for a vehicle and a vehicle. More specifically, the disclosure relates to an obstacle warning system for a vehicle, a method for issuing an obstacle warning by an obstacle warning system for a vehicle and a vehicle as defined in the introductory parts of the independent claims.
• Parking sensors and obstacle warning systems of vehicles are generally fairly simple. At their heart they check if the distance to an obstacle is less than a threshold, and then the user gets a warning.
• an obstacle warning system for a vehicle comprising a left proximity sensor configured to detect and measure distance to obstacles on the left side of the vehicle; a right proximity sensor configured to detect and measure distance to obstacles on the right side of the vehicle; a processing circuitry operatively connected to the left proximity sensor and the right proximity sensor, arranged to cause the obstacle warning system to: obtain, via the left proximity sensor, information regarding presence and a left distance to obstacles on the left front vehicle side; obtain, via the right proximity sensor, information regarding presence and a right distance to obstacles on the right front vehicle side; in response to determining that a single obstacle is detected on the left side or the right side, and that the left distance or the right distance to the single obstacle is below a first predetermined threshold issue an obstacle warning to the vehicle; characterised in that in response to determining that obstacles are detected on the left side of the vehicle and at the
• the threshold for issuing a warning is shorter than in a situation with only one obstacle on one side.
• the driver will not get an unwanted warning that could distract when not needed as the vehicle is fairly centred in the passage when both the left distance and the right distance are above the second predetermined threshold.
• the processing circuitry is further arranged to cause the obstacle warning system to: in response to determining that obstacles are detected on the left side and at the right side, and that the ratio of the left distance to the right distance is within a ratio range centred around a number of 1 and that the left distance and/or the right distance are/is below the first predetermined threshold but above a second predetermined threshold omit issuing an obstacle warning to the vehicle; and in response to determining that obstacles are detected on the left side and at the right, and that the ratio of the left distance to the right distance is outside of the predetermined ratio range and that that the left distance and/or the right distance are/is below the first predetermined threshold but above a second predetermined threshold issuing an obstacle warning only regarding the side of the vehicle where the distance to the obstacle is the shortest.
• Calculating the ratio between the left distance and the right distance is an efficient way of estimating if the vehicle is centred between obstacles in a passage, tunnel or the like. If the vehicle deviates from the ratio range a warning is issued.
• the ratio range is centred around 1 and could be e.g. 0.9-1.1. If the vehicle is not centred but still above the second threshold a warning is only issued about the closer obstacle.
• the processing circuitry is further arranged to cause the obstacle warning system to: in response to determining that obstacles are detected on the left side and at the right side, and that the ratio of the left distance to the right distance is within the ratio range and that the left distance and the right distance are below the second predetermined threshold issuing an obstacle warning to the vehicle regarding both sides of the vehicle.
• the left distance or the right distance is below also the second threshold while the range ratio criteria is still fulfilled, i.e. the vehicle is considered to be fairly centred, issue warning for both obstacles or walls.
• the warning is then considered important also when considering the circumstances of a passage with obstacles on both sides.
• processing circuitry is further arranged to cause the obstacle warning system to obtaining the angle of the front wheels of the vehicle and the vehicle speed from a wheel turning sensor and a speed sensor respectively; determining based on the angle of the front wheels and the speed if the vehicle is turning to the left or to the right; in response to a determination that the vehicle is turning to the left change the ratio range to be centred around a number above 1; and in response to a determination that the vehicle is turning to the right change the ratio range to be centred around a number below 1.
• the ratio range is thus offset to compensate for a situation e.g. where the vehicle is driving in a long turn with obstacles on both sides as e.g. in a spiral road in a parking garage or a tunnel that has sharper turns. In such a turn it is often a necessity to place the vehicle close to the outer wall to avoid the inner wall in the turn. Thus, the distance from the obstacle sensor to the outer wall will be much shorter than the distance from the obstacle sensor to the inner wall.
• the obstacle warning system thereby adjusts and can be set to only warn for obstacles if leaving the optimal position for the turn.
• in response to a determination that the vehicle is turning to the left increasingly change the ratio range to centre around a number further above 1 as function of the front wheel angle to the left; and in response to a determination that the vehicle is turning to the right decreasingly change the ratio range to centre around a number further below 1 as a function of the wheel angle to the right.
• the obstacle warning system can thereby adapt the ratio range according to how sharp the turn is so that the obstacle warning is only issued when the vehicle is not placed correctly in relation to the turn it is involved in.
• the processing circuitry is further arranged to cause the obstacle warning system to obtain the vehicle speed; adjust the first predetermined threshold and the second predetermined threshold as a function of the vehicle speed.
• the obstacle warning system can thereby adapt so that the first predetermined threshold and the second predetermined threshold are greater in higher speeds and that shorter distances to obstacles are acceptable at lower speeds when the driver has increased time to adjust steering relative to at higher speeds before risking to hit an obstacle.
• the processing circuitry is further arranged to cause the obstacle warning system to obtain the vehicle speed; tighten the ratio range as a function of the vehicle speed.
• the obstacle warning system can thereby adapt so that ratio range is wider in higher speeds and that shorter distances to obstacles are acceptable at lower speeds when the driver has increased time to adjust steering relative to at higher speeds before risking to hit an obstacle.
• the ratio range is further adjusted based on information about the vehicle length and the locations of the left proximity sensor and the right proximity sensor, respectively, in relation to the vehicle centre of rotation when turning.
• the adjustment of the ratio range can thereby be even further optimized to the individual vehicle so that obstacle warnings are only issued when needed.
• the determination of a left turn or a right turn is further based on that the front wheel angle is substantially fixed for predetermined time period.
• the obstacle comprises a memory configured to store data, wherein the memory is operatively connected to the processing circuitry. Instructions regarding how to adjust the first predetermined threshold, the second predetermined threshold and the ratio range in different situations can thereby be stored and updated when desired.
• the obstacle warning includes information about which vehicle side the obstacle is located at and the distance to the obstacle so that the driver has full information about a detected obstacle or obstacles.
• a method for issuing an obstacle warning by an obstacle warning system for a vehicle comprising a left proximity sensor configured to detect obstacles on the left side of the vehicle; a right proximity sensor configured to detect obstacles on the right side of the vehicle; a processing circuitry operatively connected to the left proximity sensor and the right proximity sensor; wherein the method comprises obtaining, via the left proximity sensor, information regarding presence and a left distance to obstacles on the left vehicle side; obtain, via the right proximity sensor, information regarding presence and a right distance to obstacles on the right vehicle side; in response to determining that a single obstacle is detected on the left side or the right side, and that the left distance or the right distance to the single obstacle is below a first predetermined threshold issuing an obstacle warning to the vehicle; characterised in that in response to determining that obstacles are detected on the left side and at the right side, and that the left distance and/or the right distance are/is below the first predetermined threshold but above a second predetermined threshold omit issuing an obstacle warning to the
• the threshold for issuing a warning is shorter than in a situation with only one obstacle on one side.
• the driver will not get an unwanted warning that could distract when not needed as the vehicle is fairly centered in the passage when both the left distance and the right distance are above the second predetermined threshold.
• the method comprises in response to determining that obstacles are detected on the left side and at the right side, and that the ratio of the left distance to the right distance is within a ratio range centred around a number of 1 and that the left distance and/or the right distance are/is below the first predetermined threshold but above a second predetermined threshold omit issuing an obstacle warning to the vehicle; and in response to determining that obstacles are detected on the left side and at the right, and that the ratio of the left distance to the right distance is outside of the ratio range and that the left distance and/or the right distance are/is below the first predetermined threshold but above a second predetermined threshold issuing an obstacle warning only regarding the side of the vehicle where the distance to the obstacle is the shortest.
• Calculating the ratio between the left distance and the right distance is an efficient way of estimating if the vehicle is centred between obstacles in a passage, tunnel or the like. It the vehicle deviates from the ratio range a warning is issued.
• the ratio range is centred around 1 and could be e.g. 0.9-1.1. If the vehicle is not centred but sill above the second threshold a warning is only issued about the closer obstacle.
• the method comprises in response to determining that obstacles are detected on the left side and at the right side, and that the ratio of the left distance to the right distance is within the ratio range and that the left distance and/or the right distance are/is below the second predetermined threshold issuing an obstacle warning to the vehicle regarding both sides of the vehicle.
• the left distance or the right distance is below also the second threshold while the range ratio criteria is still fulfilled, i.e. the vehicle is considered to be fairly centred, issue warning for both obstacles or walls.
• the warning is then considered important also when considering the circumstances of a passage with obstacles on both sides.
• the method comprises obtaining the angle of the wheel of the vehicle and the vehicle speed; determining based on the angle of the wheel and the speed if the vehicle is turning to the left or to the right; in response to a determination that the vehicle is turning to the left changing the ratio range to be centred around a number above 1; and in response to a determination that the vehicle is turning to the right changing the ratio range to be centred around a number below 1.
• the ratio range is thus offset to compensate for a situation e.g. where the vehicle is driving in a long turn with obstacles on both sides as e.g. in a spiral road in a parking garage or a tunnel that has sharper turns. In such a turn it is often a necessity to place the vehicle close to the outer wall to avoid the inner wall in the turn. Thus, the distance from the obstacle sensor to the outer wall will be much shorter than the distance from the obstacle sensor to the inner wall.
• the obstacle warning system thereby adjusts and can be set to only warn for obstacles if leaving the optimal position for the turn.
• the obstacle warning system can thereby adapt the ratio range according to how sharp the turn is so that the obstacle warning is only issued when the vehicle is not placed correctly in relation to the turn it is involved in.
• the processing circuitry is further arranged to cause the obstacle warning system to obtaining the vehicle speed; adjusting the first predetermined threshold and the second predetermined threshold as a function of the vehicle speed.
• the obstacle warning system can thereby adapt so that the first predetermined threshold and the second predetermined threshold are greater in higher speeds and that shorter distances to obstacles are acceptable at lower speeds when the driver has increased time to adjust steering relative to at higher speeds before risking to hit an obstacle.
• the processing circuitry is further arranged to cause the obstacle warning system to obtaining the vehicle speed; narrowing the ratio range by decreasing the upper threshold and increasing the lower threshold.
• the obstacle warning system can thereby adapt so that ratio range is wider in higher speeds and that shorter distances to obstacles are acceptable at lower speeds when the driver has increased time to adjust steering relative to at higher speeds before risking to hit an obstacle.
• the ratio range is further adjusted based on information about the vehicle length and the locations of the left proximity sensor and the right proximity sensor, respectively, in relation to the vehicle centre of rotation when turning.
• the adjustment of the ratio range can thereby be even further optimized to the individual vehicle so that obstacle warnings are only issued when needed.
• a vehicle comprising an obstacle warning system according to the first aspect and a user interface, wherein the processing circuitry is further arranged to cause the obstacle warning system to receive an issued obstacle warning from the obstacle warning system; issue the obstacle warning to either an autonomous vehicle self driving system; or the driver of the vehicle.
• the output from the obstacle warning system can thereby be used in different situations.
• the first aspect of this disclosure shows an obstacle warning system for a vehicle 2 comprising a left proximity sensor 3 configured to detect and measure distance to obstacles 5 on the left side of the vehicle; a right proximity sensor 4 configured to detect and measure distance to obstacles 6 on the right side of the vehicle; a processing circuitry 7 operatively connected to the left proximity sensor 3 and the right proximity sensor 4, arranged to cause the obstacle warning system to: obtain, via the left proximity sensor 3, information regarding presence and a left distance dl to obstacles 5 on the left front vehicle side; obtain, via the right proximity sensor 4, information regarding presence and a right distance dr to obstacles 6 on the right front vehicle side; in response to determining that a single obstacle 5,6 is detected on the left side or the right side, and that the left distance or the right distance to the single obstacle is below a first predetermined threshold issue an obstacle warning to the vehicle; characterised in that in response to determining that obstacles 5,6 are detected on the left side of the vehicle and at the right side of the vehicle, and that the left distance d
• the processing circuitry 7 is further arranged to cause the obstacle warning system to: in response to determining that obstacles 5,6 are detected on the left side and at the right side, and that the ratio of the left distance dl to the right distance dr is within a ratio range RR centred around a number of 1 and that the left distance dl and/or the right distance dr are/is below the first predetermined threshold but above a second predetermined threshold omit issuing an obstacle warning to the vehicle; and in response to determining that obstacles are detected on the left side and at the right, and that the ratio of the left distance dl to the right distance dr is outside of the predetermined ratio range and that that the left distance and/or the right distance are/is below the first predetermined threshold but above a second predetermined threshold issuing an obstacle warning only regarding the side of the vehicle where the distance to the obstacle is the shortest.
• the processing circuitry 7 is further arranged to cause the obstacle warning system to: in response to determining that obstacles are detected on the left side and at the right side, and that the ratio of the left distance dl to the right distance dr is within the ratio range RR and that the left distance dl and the right distance dr are below the second predetermined threshold issuing an obstacle warning to the vehicle regarding both sides of the vehicle.
• the vehicle is driving between two walls, e.g. an entrance to a parking garage or a narrow tunnel or the like.
• the vehicle is equally close to the left wall as in Figure 1a , but since there are now two walls, the vehicle is placed substantially in the centre between the walls and since the distance to the left or right of the vehicle is longer than a second predetermined threshold, shorter than the first predetermined threshold, the obstacle warning system will not issue a warning.
• the processing circuitry 7 is further arranged to cause the obstacle warning system to obtaining the angle of the front wheels 9 of the vehicle and the vehicle speed from a wheel turning sensor 91 and a speed sensor 92 respectively; determining based on the angle of the front wheels al, ar and the speed if the vehicle is turning to the left or to the right; in response to a determination that the vehicle is turning to the left change the ratio range RR to be centred around a number above 1; and in response to a determination that the vehicle is turning to the right change the ratio range RR to be centred around a number below 1.
• Figure 2 discloses a vehicle in left turn with a wall on each side of the vehicle. It could e.g. be ramp between levels in a parking garage. The wheels are turned to the left at an angle al. As seen in the Figure 2 the distance dl is much longer than the distance dr although the vehicle is correctly positioned in the turn so as to keep as much in the middle of the road as possible.
• the obstacle warning system according to this disclosure takes this into account based on the wheel angles and will not issue an obstacle warning.
• the black circle indicates the centre of rotation 21 of the vehicle to illustrate the fact that the vehicle in principle rotates around the inner back wheel.
• Figure 3 discloses the same situation as in Figure 2 , but with a vehicle in a right turn and where the vehicle is too close to the left wall according to the range ratio when turning.
• the ratio of the left distance to the right distance is very small and outside of the predetermined ratio range also when adjusted for the right turn.
• the obstacle warning system will then issue an obstacle warning relating to the left wall 5.
• the black circle indicates the centre of rotation 21 of the vehicle to illustrate the fact that the vehicle in principle rotates around the inner back wheel.
• the processing circuitry is further arranged to cause the obstacle warning system to obtain the vehicle speed; adjust the first predetermined threshold and the second predetermined threshold as a function of the vehicle speed.
• the processing circuitry 7 is further arranged to cause the obstacle warning system to obtain the vehicle speed; tighten the ratio range RR as a function of the vehicle speed.
• the ratio range is further adjusted based on information about the vehicle length and the locations of the left proximity sensor 3 and the right proximity sensor 4, respectively, in relation to the vehicle centre of rotation when turning.
• the determination of a left turn or a right turn is further based on that the front wheel angle is substantially fixed for predetermined time period to discriminate brief turns in parking lot parking from a long turn based on a that the road is turning.
• the obstacle warning system further comprises a memory 12 configured to store data, wherein the memory is operatively connected to the processing circuitry 7.
• the second aspect of this disclosure shows a method for issuing an obstacle warning by an obstacle warning system for a vehicle
• the obstacle warning system comprises a left proximity sensor 3 configured to detect obstacles on the left side of the vehicle; a right proximity sensor 4 configured to detect obstacles on the right side of the vehicle; a processing circuitry operatively connected to the left proximity sensor and the right proximity sensor; wherein the method comprises obtaining S1, via the left proximity sensor, information regarding presence and a left distance to obstacles 5 on the left vehicle side; obtain S2, via the right proximity sensor, information regarding presence and a right distance to obstacles 6 on the right vehicle side; in response to determining that a single obstacle is detected on the left side or the right side, and that the left distance dl or the right distance dr to the single obstacle 5,6 is below a first predetermined threshold issuing S3 an obstacle warning to the vehicle; characterised in that in response to determining that obstacles 5,6 are detected on the left side and at the right side, and that the left distance dl and/or the right distance dr
• the method comprises in response to determining that obstacles 5,6 are detected on the left side and at the right side, and that the ratio of the left distance dl to the right distance dr is within a ratio range RR centred around a number of 1 and that the left distance and/or the right distance are/is below the first predetermined threshold but above a second predetermined threshold omit issuing S3-1 an obstacle warning to the vehicle; and in response to determining that obstacles are detected on the left side and at the right, and that the ratio of the left distance dl to the right distance dr is outside of the ratio range RR and that the left distance dl and/or the right distance dr are/is below the first predetermined threshold but above a second predetermined threshold issuing S4 an obstacle warning only regarding the side of the vehicle where the distance to the obstacle is the shortest.
• the method further comprises in response to determining that obstacles are detected on the left side and at the right side, and that the ratio of the left distance dl to the right distance dr is within the ratio range and that the left distance and/or the right distance are/is below the second predetermined threshold issuing S5 an obstacle warning to the vehicle regarding both sides of the vehicle.
• the method further comprises obtaining S6 the angle of the wheel of the vehicle and the vehicle speed; determining S7 based on the angle of the wheel and the speed if the vehicle is turning to the left or to the right; in response to a determination that the vehicle is turning to the left changing S8-1 the ratio range to be centred around a number RRL above 1; and in response to a determination that the vehicle is turning to the right changing S9-1 the ratio range to be centred around a number RRR below 1.
• the method further comprises, in response to a determination that the vehicle is turning to the left increasingly changing S8-2 the ratio range to centre around a number further above 1 as function of the wheel angle to the left al; and in response to a determination that the vehicle is turning to the right decreasingly changing S9-2 the ratio range to centre around a number further below 1 as a function of the wheel angle to the right a r.
• the processing circuitry is further arranged to cause the obstacle warning system to obtaining S10 the vehicle speed; adjusting S11 the first predetermined threshold and the second predetermined threshold as a function of the vehicle speed.
• the processing circuitry is further arranged to cause the obstacle warning system to obtaining S10 the vehicle speed; narrowing S12 the ratio range RR by decreasing the upper threshold and increasing the lower threshold.
• the method further comprises, adjusting the ratio range further based on information about the vehicle length and the locations of the left proximity sensor 3 and the right proximity sensor 4, respectively, in relation to the vehicle centre of rotation when turning.
• the third aspect of this disclosure shows a vehicle comprising an obstacle warning system according to the first aspect and a user interface, wherein the processing circuitry is further arranged to cause the obstacle warning system to receive an issued obstacle warning from the obstacle warning system; issue the obstacle warning to an autonomous vehicle self-driving system; or issue the obstacle warning 21 to a driver of the vehicle.

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Citations (6)

• 2024
  • 2024-06-27 EP EP24185118.7A patent/EP4672196A1/de active Pending
• 2025
  • 2025-06-26 WO PCT/CN2025/103928 patent/WO2026002134A1/en active Pending

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