Driver assistant system using influence mapping for conflict avoidance path determination

• US 10,115,310 B2
• Filed: 09/11/2017
• Issued: 10/30/2018
• Est. Priority Date: 09/04/2012
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Pflug, Goerg
• Primary Examiner(s): Melton, Todd M
• Assistant Examiner(s): Roberson, Jason R
• Application Number:
  US15/700,273
• Publication Number:
  US 20170372610A1
• Time in Patent Office: 414 Days
• Field of Search: None
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 30/10 Path keeping cruise control for automatically following a preceding vehicle B60W30/165
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering
• CPC Class Codes: B62D 6/00 Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00
• CPC Class Codes: G08G 1/163 involving continuous checking
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A vehicular control system for a vehicle includes a plurality of sensors. Responsive to data processing, the vehicular control system is operable to determine respective speeds of the determined vehicles and respective directions of travel of the determined vehicles, and determines respective influence values for the determined vehicles based on a determined potential hazard to the equipped vehicle presented by the determined vehicles. A plurality of paths for the equipped vehicle is determined, and the determined plurality of paths is assessed by a decision algorithm that ranks each of the determined paths based on likelihood of collision of the equipped vehicle along a respective determined path with one or more determined vehicles. A path of travel is selected from the plurality of determined paths responsive at least in part to the rankings of the paths and to the determined types of vehicles along one or more of the determined paths.

Claims

1. A vehicular control system for a vehicle, said vehicular control system comprising:

a plurality of sensors disposed at a vehicle equipped with said vehicular control system, wherein said plurality of sensors comprises at least one vehicle-based camera and at least one vehicle-based non-camera sensor, and wherein said plurality of sensors is operable to detect vehicles at least one of ahead of the equipped vehicle and sideward of the equipped vehicle;

wherein said at least one vehicle-based non-camera sensor is selected from the group consisting of (i) a vehicle-based radar sensor disposed at the equipped vehicle and sensing exterior of the equipped vehicle and (ii) a vehicle-based lidar sensor disposed at the equipped vehicle and sensing exterior of the equipped vehicle;

wherein said vehicular control system includes a data processor operable to process data captured by said at least one vehicle-based non-camera sensor and said at least one vehicle-based camera to determine the presence of vehicles at least one of ahead of the equipped vehicle and sideward of the equipped vehicle;

wherein, responsive to said data processing, said vehicular control system is operable to determine respective speeds of the determined vehicles and respective directions of travel of the determined vehicles;

wherein said vehicular control system is operable to determine respective influence values for the determined vehicles and wherein determined respective influence values are based on a determined potential hazard to the equipped vehicle presented by the determined vehicles;

wherein the respective determined influence values for the determined vehicles comprise weighted values with increased weighting for vehicles with greater speeds;

wherein the respective determined influence value for a determined vehicle is (i) weighted according to the direction of a speed vector of the determined vehicle and (ii) weighted according to the magnitude of the speed vector of the determined vehicle;

wherein, responsive to the respective speeds and respective directions of travel of the determined vehicles and responsive to the determined respective influence values, a plurality of paths for the equipped vehicle is determined;

wherein the determined plurality of paths is assessed by a decision algorithm that ranks each of the determined paths based on likelihood of collision of the equipped vehicle along a respective determined path with one or more determined vehicles;

wherein said data processor processes data captured by said at least one vehicle-based camera to determine a respective type of vehicle for the determined vehicles; and

wherein a selected path of travel is selected from the plurality of determined paths responsive at least in part to the rankings of the ranked paths and responsive at least in part to the determined types of vehicles along one or more of the determined paths.

2. The vehicular control system of claim 1, wherein said at least one vehicle-based camera comprises a plurality of vehicle-based cameras each having an exterior field of view.

3. The vehicular control system of claim 1, wherein said at least one vehicle-based non-camera sensor comprises a plurality of vehicle-based radar sensors disposed at the equipped vehicle and sensing exterior of the equipped vehicle.

4. The vehicular control system of claim 1, wherein said at least one vehicle-based non-camera sensor comprises a plurality of vehicle-based lidar sensors disposed at the equipped vehicle and sensing exterior of the equipped vehicle.

5. The vehicular control system of claim 1, wherein the respective determined influence values for the determined vehicles are ranked according to their hazard potential and wherein the path of travel is selected responsive to the rankings of the determined respective influence values.

6. The vehicular control system of claim 1, wherein said vehicular control system generates an alert to a driver of the equipped vehicle that is indicative of the determined path of travel.

7. The vehicular control system of claim 1, wherein said vehicular control system is operable to at least in part control a brake system of the equipped vehicle and a steering system of the equipped vehicle to guide the equipped vehicle along the selected path of travel.

8. The vehicular control system of claim 1, wherein said vehicular control system determines at least one alternative path of travel for the equipped vehicle to follow that limits conflict with the determined vehicles.

9. The vehicular control system of claim 8, wherein the at least one alternative path of travel for the equipped vehicle to follow is selected by iterating an influence map current condition into a future map condition in time steps.

10. The vehicular control system of claim 1, wherein said vehicular control system determines the selected path of travel based at least in part on a driving condition at the road being traveled by the equipped vehicle.

11. The vehicular control system of claim 1, wherein said decision algorithm ranks the determined paths based at least in part on lengths of the determined paths.

12. The vehicular control system of claim 1, wherein said decision algorithm ranks the determined paths based at least in part on determined distances to the respective vehicles from the equipped vehicle for the respective determined path.

13. The vehicular control system of claim 1, wherein said decision algorithm ranks the determined paths based at least in part on a level of steering intervention required for the equipped vehicle to follow the respective determined path.

14. The vehicular control system of claim 1, wherein said decision algorithm ranks the determined paths based at least in part on a level of braking required for the equipped vehicle to follow the respective determined path.

15. The vehicular control system of claim 1, wherein said decision algorithm ranks the determined paths based at least in part on a level of acceleration required for the equipped vehicle to follow the respective determined path.

16. A vehicular control system for a vehicle, said vehicular control system comprising:

a plurality of sensors disposed at a vehicle equipped with said vehicular control system, wherein said plurality of sensors comprises at least one vehicle-based camera and at least one vehicle-based non-camera sensor, and wherein said plurality of sensors is operable to detect vehicles at least one of ahead of the equipped vehicle and sideward of the equipped vehicle;

wherein said at least one vehicle-based non-camera sensor is selected from the group consisting of (i) a vehicle-based radar sensor disposed at the equipped vehicle and sensing exterior of the equipped vehicle and (ii) a vehicle-based lidar sensor disposed at the equipped vehicle and sensing exterior of the equipped vehicle;

wherein said vehicular control system includes a data processor operable to process data captured by said at least one vehicle-based non-camera sensor and said at least one vehicle-based camera to determine the presence of vehicles at least one of ahead of the equipped vehicle and sideward of the equipped vehicle;

wherein, responsive to said data processing, said vehicular control system is operable to determine respective speeds of the determined vehicles and respective directions of travel of the determined vehicles;

wherein said vehicular control system is operable to determine respective influence values for the determined vehicles and wherein determined respective influence values are based on a determined potential hazard to the equipped vehicle presented by the determined vehicles;

wherein the respective determined influence values for the determined vehicles comprise weighted values with increased weighting for vehicles with greater speeds;

wherein the respective determined influence value for a determined vehicle is (i) weighted according to the direction of a speed vector of the determined vehicle and (ii) weighted according to the magnitude of the speed vector of the determined vehicle;

wherein, responsive to the respective speeds and respective directions of travel of the determined vehicles and responsive to the determined respective influence values, a plurality of paths for the equipped vehicle is determined;

wherein the determined plurality of paths is assessed by a decision algorithm that ranks each of the determined paths based on likelihood of collision of the equipped vehicle along a respective determined path with one or more determined vehicles;

wherein said data processor processes data captured by said at least one vehicle-based camera to determine a respective type of vehicle for the determined vehicles;

wherein a selected path of travel is selected from the plurality of determined paths responsive at least in part to the rankings of the ranked paths and responsive at least in part to the determined types of vehicles along one or more of the determined paths;

wherein the respective determined influence values for the determined vehicles are ranked according to their hazard potential, and wherein the path of travel is selected responsive to the rankings of the determined respective influence values; and

wherein said vehicular control system determines at least one alternative path of travel for the equipped vehicle to follow that limits conflict with the determined vehicles.

17. The vehicular control system of claim 16, wherein said at least one vehicle-based camera comprises a plurality of vehicle-based cameras each having an exterior field of view.

18. The vehicular control system of claim 16, wherein said at least one vehicle-based non-camera sensor comprises a plurality of vehicle-based radar sensors disposed at the equipped vehicle and sensing exterior of the equipped vehicle.

19. The vehicular control system of claim 16, wherein said vehicular control system generates an alert to a driver of the equipped vehicle that is indicative of the determined path of travel.

20. The vehicular control system of claim 16, wherein the at least one alternative path of travel for the equipped vehicle to follow is selected by iterating an influence map current condition into a future map condition in time steps.

21. A vehicular control system for a vehicle, said vehicular control system comprising:

a plurality of sensors disposed at a vehicle equipped with said vehicular control system, wherein said plurality of sensors comprises at least one vehicle-based camera and at least one vehicle-based non-camera sensor, and wherein said plurality of sensors is operable to detect vehicles at least one of ahead of the equipped vehicle and sideward of the equipped vehicle;

wherein said at least one vehicle-based non-camera sensor is selected from the group consisting of (i) a vehicle-based radar sensor disposed at the equipped vehicle and sensing exterior of the equipped vehicle and (ii) a vehicle-based lidar sensor disposed at the equipped vehicle and sensing exterior of the equipped vehicle;

wherein said vehicular control system includes a data processor operable to process data captured by said at least one vehicle-based non-camera sensor and said at least one vehicle-based camera to determine the presence of vehicles at least one of ahead of the equipped vehicle and sideward of the equipped vehicle;

wherein, responsive to said data processing, said vehicular control system is operable to determine respective speeds of the determined vehicles and respective directions of travel of the determined vehicles;

wherein said vehicular control system is operable to determine respective influence values for the determined vehicles and wherein determined respective influence values are based on a determined potential hazard to the equipped vehicle presented by the determined vehicles;

wherein the respective determined influence values for the determined vehicles comprise weighted values with increased weighting for vehicles with greater speeds;

wherein the respective determined influence value for a determined vehicle is (i) weighted according to the direction of a speed vector of the determined vehicle and (ii) weighted according to the magnitude of the speed vector of the determined vehicle;

wherein, responsive to the respective speeds and respective directions of travel of the determined vehicles and responsive to the determined respective influence values, a plurality of paths for the equipped vehicle is determined;

wherein the determined plurality of paths is assessed by a decision algorithm that ranks each of the determined paths based on likelihood of collision of the equipped vehicle along a respective determined path with one or more determined vehicles;

wherein said data processor processes data captured by said at least one vehicle-based camera to determine a respective type of vehicle for the determined vehicles;

wherein a selected path of travel is selected from the plurality of determined paths responsive at least in part to the rankings of the ranked paths and responsive at least in part to the determined types of vehicles along one or more of the determined paths;

wherein the respective determined influence values for the determined vehicles are ranked according to their hazard potential and wherein the path of travel is selected responsive to the rankings of the determined respective influence values; and

wherein said decision algorithm ranks the determined paths based at least in part on at least one of (i) determined distances to the respective vehicles from the equipped vehicle for the respective determined path, (ii) a level of steering intervention required for the equipped vehicle to follow the respective determined path, (iii) a level of braking required for the equipped vehicle to follow the respective determined path, and (iv) a level of acceleration required for the equipped vehicle to follow the respective determined path.

22. The vehicular control system of claim 21, wherein said at least one vehicle-based camera comprises a plurality of vehicle-based cameras each having an exterior field of view.

23. The vehicular control system of claim 21, wherein said at least one vehicle-based non-camera sensor comprises a plurality of vehicle-based radar sensors disposed at the equipped vehicle and sensing exterior of the equipped vehicle.

24. The vehicular control system of claim 21, wherein said at least one vehicle-based non-camera sensor comprises a plurality of vehicle-based lidar sensors disposed at the equipped vehicle and sensing exterior of the equipped vehicle.