WO2017097381A1 - Procédé et système d'avertissement exploitable dans un véhicule - Google Patents

Procédé et système d'avertissement exploitable dans un véhicule Download PDF

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Publication number
WO2017097381A1
WO2017097381A1 PCT/EP2015/079481 EP2015079481W WO2017097381A1 WO 2017097381 A1 WO2017097381 A1 WO 2017097381A1 EP 2015079481 W EP2015079481 W EP 2015079481W WO 2017097381 A1 WO2017097381 A1 WO 2017097381A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
warning system
road
indication
driver
Prior art date
Application number
PCT/EP2015/079481
Other languages
English (en)
Inventor
Athanasios KARAPANTELAKIS
Marcus Nyberg
Aneta VULGARAKIS FELJAN
Maxim TESLENKO
Original Assignee
Telefonaktiebolaget Lm Ericsson (Publ)
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 Telefonaktiebolaget Lm Ericsson (Publ) filed Critical Telefonaktiebolaget Lm Ericsson (Publ)
Priority to PCT/EP2015/079481 priority Critical patent/WO2017097381A1/fr
Publication of WO2017097381A1 publication Critical patent/WO2017097381A1/fr

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Classifications

    • 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
    • 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

Definitions

  • the present disclosure relates generally to a method and a warning system operable in a first vehicle, for notifying a driver about potential hazards on a road travelled by the first vehicle.
  • sensors in the vehicle may be used to monitor the surrounding environment and an alert may be emitted whenever an object, vehicle or pedestrian is detected on the road.
  • external sources may be utilized to obtain information about any obstacles on the road.
  • vehicles and pedestrians may be equipped with radio transmitters which broadcast their presence and parameters of movements in close vicinity.
  • radars or sensors may be implemented as an infrastructure for a road system such that the radars or sensors broadcast presence of objects detected in close vicinity.
  • a method is performed by a warning system operable in a first vehicle, for notifying a driver of the first vehicle about hazards on a road travelled by the first vehicle.
  • the warning system receives traffic information related to position and movement of a second vehicle when
  • the warning system detects a potential hazard on the road caused by or involving the second vehicle based on the traffic information, and detects also that the second vehicle is non-visible to the driver of the first vehicle. Responsive to the above detections, the warning system alerts the driver about said potential hazard. This alerting may be made by emitting an indication in the first vehicle, such as a visual indication, an audio indication and/or a haptic indication, that can be observed by the driver.
  • a warning system is arranged to operate in a first vehicle for notifying a driver of the first vehicle about hazards on a road travelled by the first vehicle.
  • the warning system comprises a communication unit configured to receive traffic information related to position and movement of a second vehicle when broadcasted from the second vehicle or from a road monitor.
  • the warning system further comprises a logic unit configured to detect a potential hazard on the road caused by or involving the second vehicle based on the traffic information, and a vehicle detector configured to detect that the second vehicle is non-visible to the driver of the first vehicle.
  • the warning system also comprises an alerting unit configured to alert the driver about said potential hazard.
  • a computer program storage product comprising instructions which, when executed on at least one processor in the vehicle control node, cause the at least one processor to carry out the method described above.
  • Figs 1 A and 1 B illustrate two exemplary traffic scenarios where two vehicles are blocked from view of each other.
  • Fig. 2 is a scenario illustrating a first vehicle detecting infrared signals emitted from a second vehicle, according to some possible embodiments.
  • Fig. 3 is a flow chart illustrating a procedure in a warning system, according to further possible embodiments.
  • Fig. 4 is another flow chart illustrating a more detailed example of how a warning system may operate, according to further possible embodiments.
  • Fig. 5 is a block diagram illustrating how a warning system may be configured with functional components, according to further possible embodiments.
  • Fig. 6 is a signaling diagram illustrating an example of a procedure when the solution is used, according to further possible embodiments.
  • Fig. 7 illustrates an example of a traffic scenario where the solution may be employed. Detailed description
  • a solution is provided in a warning system which can be installed in a first vehicle to be operable for notifying a driver of the vehicle about hazards on a road travelled by the first vehicle.
  • the warning system operates such that traffic information related to position and movement of various other vehicles on the road is constantly received and analyzed by the warning system.
  • traffic information may be received when broadcasted from the vehicles themselves or from road monitors which may be installed at certain locations where they can sense presence and movements of any nearby vehicles.
  • the traffic information may also be received over a wireless or mobile network and the solution is not limited to any particular technology or systems for communicating the traffic information.
  • the warning system is able to detect a potential hazard on the road caused by or involving a second vehicle, based on the traffic information.
  • a potential hazard is detected when detecting that the second vehicle is moving with a certain speed and direction such that it will be
  • the first vehicle on the road it can be detected that the first and second vehicle will meet at some point.
  • an alert is issued in the first vehicle in this solution only if it is further detected that the second vehicle is non-visible to the driver of the first vehicle. In that case, a potentially dangerous situation may arise if the driver is unaware of the approaching vehicle and there will not be ample time to discover the vehicle and react once it becomes visible. Otherwise if it is detected that the second vehicle is visible to the driver, no alert will be issued in the first vehicle.
  • a vehicle detector which is configured to automatically detect whether the second vehicle is visible or not from the first vehicle.
  • a signal or image emitted from the second vehicle may be detectable only by line-of-sight at the first vehicle.
  • the signal may be emitted in the infrared spectrum, i.e. as an infrared signal, which has basically the same propagation properties as a visible signal, i.e. it cannot propagate around corners or the like.
  • Figs 1 A and 1 B illustrate two examples where two vehicles are shut out from view of each other.
  • a driver of a first vehicle 100 is unable to see an approaching second vehicle 102 since the line-of-sight view is blocked by a hill, as illustrated by a dashed arrow representing the view from the first vehicle 100.
  • the driver in the first vehicle 100 cannot see the second vehicle 102 since the line-of-sight view is obstructed by a road curve, again illustrated by a dashed arrow.
  • the term "non-visible" implies that the second vehicle is blocked or obscured from view relative the first vehicle such that the driver can be assumed to find it difficult or impossible to discover the second vehicle.
  • the second vehicle may be totally blocked from view e.g. by a solid structure or by topography, or may be only partly obscured e.g. by vegetation.
  • the solution outlined above may be helpful in any traffic situations where a potential hazard caused by or involving a non-visible second vehicle can be detected.
  • the second vehicle may be moving in any direction or may even be standing still at a position blocked or obscured from view.
  • vehicle should further be understood in a broad sense to represent any road-user or traffic participant including cars, lorries, buses, bicycles, trains, or even pedestrians. Throughout this description, the term vehicle could thus be replaced by road-user or traffic participant.
  • Fig. 2 illustrates an example of how the detection of whether a second vehicle 102 is visible from a first vehicle 100, may be attained.
  • the second vehicle 102 is equipped with plural emitters of infrared signals, denoted 102A.
  • the infrared emitters 102A are placed at the corners of the vehicle 102 to emit infrared signals in virtually all directions from the vehicle 102, as indicated by short arrows.
  • the infrared signals may be emitted continuously or at regular intervals.
  • An identity of the second vehicle 102 may also be encoded in the emitted signals to enable identification of the vehicle 102 once the signals are detected.
  • a vehicle detector 100A on the first vehicle 100 is able to detect the infrared signals emitted therefrom and also to identify the second vehicle 102 based on the signals.
  • a first action 300 illustrates that the warning system receives traffic information related to position and movement of a second vehicle when broadcasted from the second vehicle or from a road monitor.
  • the warning system may use a suitable communication device for receiving the traffic information over a radio interface.
  • traffic information may be received directly from the second vehicle or road monitor, e.g. over a suitable radio link between the first vehicle and the second vehicle or road monitor, or from a serving network node of a radio network which can be used as a means for broadcasting the information.
  • the warning system detects a potential hazard on the road caused by or involving the second vehicle based on the traffic information.
  • the traffic information may indicate that the first and second vehicles will meet at some point, e.g.
  • “potential hazard” means basically that the second vehicle is detected to be present on the road and will be encountered by the first vehicle.
  • An action 304 illustrates that the warning system further detects that the second vehicle is non-visible to the driver of the first vehicle.
  • the second vehicle may be detected to be non-visible to the driver when a signal or image emitted from the second vehicle cannot be detected by line-of-sight at the first vehicle. It was mentioned above that this detection may be based on infrared light or an image being emitted from the second vehicle which can only be detected through line-of-sight.
  • the non-detected signal may thus be an infrared signal emitted from the second vehicle, e.g. in the manner shown in Fig. 2.
  • an image in this context may be some recognizable pattern or code on the vehicle, such as a number plate or the like, which is emitted by reflection of ambient light or headlight from the first vehicle.
  • An image may also be comprised of a specific detectable color on the vehicle.
  • a specific image, e.g. pattern can identify the second vehicle as well. It that case, it may be appropriate to brighten the image in some manner to increase its detectability.
  • the non-detected signal or image may thus identify the second vehicle.
  • a final action 306 the warning system alerts the driver about said potential hazard.
  • Action 306 is thus executed provided that the second vehicle is non-visible to the driver of the first vehicle, as detected in action 304.
  • the potential hazard may be detected when detecting that the second vehicle will be encountered on the road, which may be detected based on position and movement of the two vehicles.
  • alerting the driver may comprise emitting an indication in the first vehicle, which indication may comprise at least one of a visual indication, an audio indication and a haptic indication.
  • a visual indication such as a light, symbol or message may be displayed on a dashboard or on a windscreen of the vehicle.
  • An audio indication may comprise a sound signal or a spoken message.
  • a haptic indication may comprise a vibration or impact in some part of the vehicle being sensed by the driver such as the seat or the steering wheel.
  • the indication may be dependent of an
  • critical situation implies a relatively great hazard while a less critical situation implies a relatively small hazard.
  • a more intense indication may also be that a repeated sound signal or blinking light increases its repetition frequency or changes repetition pattern in a way that catches the driver's attention.
  • Quantifying the hazard means basically that a "hazard index value" or the like is determined to reflect how serious the situation is. For example, a high hazard index value may indicate a critical situation, such as potential collision and/or accident, whereas a lower hazard index value may indicate a less critical situation. Alternatively, it is also possible to let a low hazard value indicate a great hazard, and vice versa. In another example embodiment, the indication may be emitted only if the quantified hazard, such as the above-mentioned hazard index value, fulfils a predefined threshold condition, otherwise no indication will be emitted.
  • the indication is emitted only if the quantified hazard index value is below a predefined threshold.
  • the evaluation and quantification of the hazard may be performed based on the received traffic information and on any of the 5 current position, condition and movement of at least one of the first and second vehicles. For example, if one or both of the vehicles travel with high speed, a correspondingly high quantification of the hazard may be determined.
  • the evaluation and quantification of the hazard may be performed further based on road conditions. Examples of such road conditions o may include presence of frost, ice or snow, the width of the road, and presence of defects such as potholes or the like.
  • the road conditions may be obtained from one or more road sensors arranged on the first vehicle and/or from the above-mentioned road monitor.
  • the first vehicle may also be equipped with some suitable means for emitting a 5 signal or image, similar to the second vehicle, to enable other vehicles to detect whether the first vehicle is visible or not from the other vehicle.
  • the warning system in the first vehicle may emit a signal which is detectable only by line-of-sight from another vehicle.
  • an identity of the first vehicle is encoded in the emitted o signal, e.g. in any manner that was exemplified above.
  • a non-limiting example of how a warning system may operate in a first vehicle will now be described with reference to the flow chart in Fig. 4 which illustrates how the above-described actions 300-306 may be carried out in more detail.
  • a first action 400 illustrates that the warning system receives traffic information related 5 to position and movement of a second vehicle, which information may be
  • a next action 402 it is determined whether or not it is possible that the second vehicle can potentially collide with the first vehicle. If not, the second vehicle is not considered to be a potential hazard in this 0 procedure and action 400 can be repeated for another, i.e. next, vehicle. If it is determined in action 402 that it is possible that the second vehicle can potentially collide with the first vehicle, it is further determined in another action 404 whether the second vehicle is visible or not, e.g. by using an infrared detector or an image detector. It should be noted that the second vehicle to be encountered is also identified in the traffic information and it can also be identified by its emitted signal or image, as described above.
  • the second vehicle If the second vehicle is visible, i.e. its emitted signal or image, in which the vehicle identity is encoded, can be detected, the second vehicle can be considered as no potential hazard at this point and the process may return to action 400 for evaluating the next vehicle. However, if it is determined in action 404 that the second vehicle is non-visible, the warning system further analyses and quantifies the potential hazard, in an action 406. Some examples of how such a potential hazard can be quantified have been described above.
  • a further action 408 illustrates that the warning system checks whether or not the quantified hazard, e.g. hazard index value, fulfils a threshold condition which in this example means being above a predefined threshold. If the quantified hazard is not large enough to exceed the predefined threshold, the second vehicle can be disregarded at this point and the process may return to action 400 for evaluating the next vehicle. On the other hand, if the quantified hazard is above the predefined threshold, an alert is issued in a following action 410, possibly depending on the hazard index value. The quantified hazard index value thus indicates that the hazard as such is large enough to motivate an alert.
  • the quantified hazard index value thus indicates that the hazard as such is large enough to motivate an alert.
  • the alert may be issued, e.g.
  • FIG. 5 illustrates a detailed but non-limiting example of how a warning system 500 may be structured to bring about the above-described solution and embodiments thereof.
  • the warning system 500 may be configured to operate according to any of the examples and embodiments of employing the solution as described above, where appropriate, and as follows.
  • the warning system 500 is shown to comprise a processor P and a memory M, said memory comprising instructions executable by said processor whereby the warning system 500 is operative as described herein.
  • the warning system 500 also comprises a communication unit 500A with suitable equipment for transmitting and receiving radio signals in the manner described herein.
  • the communication unit 500A is configured for communication with nodes of a mobile or wireless communication network over suitable radio interfaces using a suitable protocol for radio communication depending on the implementation. This communication may be performed over a radio link to a serving network node, not shown, in a conventional manner which is not necessary to describe here as such in any detail.
  • the solution and embodiments herein are thus not limited to using any specific types of networks, technology or protocols for radio communication.
  • the warning system 500 comprises means configured or arranged to perform the actions 300-306 and at least some of the actions 400-410 of the flow charts in Figs 3 and 4, respectively.
  • the warning system 500 is arranged to operate in a first vehicle for notifying a driver of the first vehicle about hazards on a road travelled by the first vehicle.
  • the communication unit 500A in the warning system 500 is configured to receive traffic information related to position and movement of a second vehicle 502 when broadcasted from the second vehicle 502 or from a road monitor 504. This operation may be performed in the manner described above for actions 300 and 400.
  • the warning system 500 further comprises a logic unit 500B which is configured to detect a potential hazard on the road caused by or involving the second vehicle 502 based on the traffic information. This operation may be performed in the manner described above for action 302 or actions 402, 406 and 408.
  • the logic unit 500B is shown as implemented in or with the processor P.
  • the warning system 500 also comprises a vehicle detector 500C which is configured to detect that the second vehicle 502 is non-visible to the driver of the first vehicle. This operation may be performed in the manner described above for actions 304 and 404.
  • the warning system 500 further comprises an alerting unit 500D which is configured to alert the driver about said potential hazard. This operation may be performed in the manner described above for actions 306 and 410.
  • the warning system 500 may further comprise an emitter 500E, e.g. an infrared emitter, which is configured to emit a signal which is detectable only by line-of-sight. An identity of the first vehicle is also encoded in the emitted signal.
  • Fig. 5 illustrates various functional units in the warning system 500, and the skilled person is able to implement these functional units in practice using suitable software and hardware.
  • the solution is generally not limited to the shown structures of the warning system 500, and the functional units 500A-E therein may be configured to operate according to any of the features and embodiments described in this disclosure, where appropriate.
  • the functional units 500A-E described above can be implemented in the warning system 500 by means of suitable hardware and program modules of a computer program comprising code means which, when run by the processor P causes the warning system 500 to perform at least some of the above-described actions and procedures.
  • the processor P may comprise a single Central Processing Unit (CPU), or could comprise two or more processing units.
  • the processor P may include a general purpose microprocessor, an instruction set processor and/or related chips sets and/or a special purpose microprocessor such as an Application Specific Integrated Circuit (ASIC).
  • ASIC Application Specific Integrated Circuit
  • the processor P may also comprise a storage for caching purposes.
  • Each computer program may be carried by a computer program product in the warning system 500 in the form of a memory having a computer readable medium and being connected to the processor P.
  • the computer program product or memory in the warning system 500 may thus comprise a computer readable medium on which the computer program is stored e.g. in the form of computer program modules or the like.
  • the memory may be a flash memory, a Random-Access Memory (RAM), a Read-Only Memory (ROM), an Electrically Erasable Programmable ROM (EEPROM) or hard drive storage (HDD), and the program modules could in alternative embodiments be distributed on different computer program products in the form of memories within the warning system 500.
  • the solution described herein may be implemented in the warning system 500 by means of a computer program storage product comprising instructions which, when executed on at least one processor, cause the at least one processor to carry out the actions according to any of the above embodiments, where appropriate.
  • FIG. 6 Another example of how the above-described solution may be employed will now be described with reference to the signaling diagram in Fig. 6 which involves a first vehicle 600, a second vehicle 602 and a road monitor 604. It is assumed that the above-described warning system 500 is operably installed in the first vehicle 600, although it is not shown as such.
  • a first action 6:1 illustrates that the road monitor 604 detects vehicles on the road and also registers road conditions, which may be performed on a more or less continuous basis.
  • Another action 6:2 illustrates that the road monitor 604 broadcasts corresponding traffic information, which may likewise be performed on a more or less continuous basis.
  • the road monitor 604 detects the second vehicle 602 and broadcasts corresponding traffic information. Thereby, the first vehicle 600 is able to receive the traffic information about the second vehicle 602, as broadcasted by the road monitor 604.
  • a further action 6:3 illustrates that the second vehicle 602 emits an infrared signal which may or may not be detected by the first vehicle 600 in the manner described above, schematically illustrated by a question mark.
  • the second vehicle 602 emits the infrared signal more or less continuously such that any nearby vehicle can detect the signal if visible.
  • Another possible action 6:4 illustrates that the second vehicle 602 may also broadcast traffic information related to position and movement of the second vehicle 602, as well as an identification of vehicle 602. This may be performed on a more or less continuous basis as well such that any nearby vehicle can pick up the broadcasted traffic information and detect a potential hazard in the manner described herein.
  • the first vehicle 600 may thus receive the traffic information about the second vehicle 602, either from the road monitor 604 or from the second vehicle 602, and detect a potential hazard on the road caused by or involving the second vehicle 602 based on the received traffic information.
  • Another action 6:5 illustrates that the first vehicle 600 evaluates the potential hazard, e.g. by quantification as described above, and issues an alert if the second vehicle 602 is found to be non- visible by not receiving the infrared signal of action 6:3.
  • the above procedure may also be executed in a corresponding manner to enable the second vehicle 602 to issue an alert responsive to a potential hazard caused by or involving the first vehicle 600, as follows.
  • An action 6:6 thus illustrates that the traffic information broadcasted by the road monitor 604 is received by the second vehicle 602 to obtain traffic information about the first vehicle 600.
  • the first vehicle 600 more or less continuously emits an infrared signal which may or may not be detected by the second vehicle 602, schematically illustrated by another question mark.
  • the first vehicle 600 may also more or less continuously broadcast traffic information related to position and movement of the first vehicle 600, as well as an identification of vehicle 600, as of action 6:8.
  • Another action 6:9 illustrates that the second vehicle 602 evaluates the potential hazard involving the first vehicle 600 and issues an alert if the first vehicle 600 is found to be non-visible by not receiving the infrared signal of action 6:7.
  • Fig. 7 finally illustrates an example of a traffic situation involving a first vehicle 700 and a second vehicle 702 which are about to encounter one another in an area where two roads are crossed.
  • the first vehicle 700 receives traffic information about the second vehicle 702, either broadcasted from the second vehicle 702 or from a road monitor 704 located nearby.
  • a warning system in the first vehicle 700 further detects a potential hazard on the road caused by or involving the second vehicle 702 based on the received traffic information which indicates that the two vehicles are likely to meet in the crossing area.
  • the line-of-sight view of the second vehicle 702 is blocked by a bus 706 being parked adjacent to the crossing area, such that the warning system in the first vehicle 700 does not detect any signal or image emitted therefrom.
  • a well-motivated alert is issued in the first vehicle 700 since no signal or image emitted by the second vehicle 702 can be detected by the first vehicle 700.
  • the driver of the first vehicle 700 is able to notice the alert and drive more cautiously through the crossing area to avoid a collision or other incident.
  • the driver of the second vehicle 702 may correspondingly receive an alert and drive more cautiously through the crossing area as well.

Abstract

L'invention concerne un procédé et un système d'avertissement destinés à informer un conducteur d'un premier véhicule à propos de dangers sur une route parcourue par le premier véhicule. Le système d'avertissement reçoit des informations de circulation liées à la position et au mouvement d'un deuxième véhicule. Le système d'avertissement détecte ensuite un danger potentiel sur la route, causé par ou impliquant le deuxième véhicule, d'après les informations de circulation, et détecte également que le deuxième véhicule n'est pas visible par le conducteur du premier véhicule. En réaction aux détections ci-dessus, le système d'avertissement alerte le conducteur à propos dudit danger potentiel. Cette alerte peut avoir lieu en émettant une indication dans le premier véhicule, telle qu'une indication visuelle, une indication audio et/ou une indication haptique, qui peut être observée par le conducteur.
PCT/EP2015/079481 2015-12-11 2015-12-11 Procédé et système d'avertissement exploitable dans un véhicule WO2017097381A1 (fr)

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PCT/EP2015/079481 WO2017097381A1 (fr) 2015-12-11 2015-12-11 Procédé et système d'avertissement exploitable dans un véhicule

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Application Number Priority Date Filing Date Title
PCT/EP2015/079481 WO2017097381A1 (fr) 2015-12-11 2015-12-11 Procédé et système d'avertissement exploitable dans un véhicule

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WO2012139168A1 (fr) * 2011-04-13 2012-10-18 Corbett Daniel Peter Dispositif, station de base, système, système de véhicule embarqué, procédé mis en œuvre par ordinateur et support de stockage lisible par ordinateur pour générer un avertissement de proximité de véhicule, et émetteur pour émettre un signal d'avertissement de proximité
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US20110260846A1 (en) * 2010-04-26 2011-10-27 Honda Motor Co., Ltd. Method of Controlling A Collision Warning System Using Line Of Sight
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