Lane assistance system responsive to extremely fast approaching vehicles

• US 10,217,364 B2
• Filed: 11/17/2015
• Issued: 02/26/2019
• Est. Priority Date: 11/18/2014
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH, Robert Bosch LLC (Robert Bosch GmbH)
• Original Assignee: Robert Bosch GmbH
• Inventors: Schwindt, Oliver, Buckner, Kevin, Chakraborty, Bhavana, Hellinger, Raphael, Voorheis, Thomas
• Primary Examiner(s): Lang, Michael D
• Application Number:
  US15/526,002
• Publication Number:
  US 20180025645A1
• Time in Patent Office: 1,197 Days
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9323 Alternative operation using light waves
• CPC Class Codes: G01S 2013/93272 in the back of the vehicles
• CPC Class Codes: G01S 7/003 Transmission of data between radar, sonar or lidar systems and remote stations
• CPC Class Codes: G08G 1/0112 from the vehicle, e.g. floating car data [FCD]
• CPC Class Codes: G08G 1/096708 where the received information might be used to generate an automatic action on the vehicle control
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A lane assistance system of a host vehicle for reacting to fast and extremely fast approaching vehicles includes a rear radar sensing unit having a sensor and an electronic controller. The electronic controller determines the distance and relative velocity of the fast approaching vehicle to the host vehicle. Further, depending on the closeness of the approaching vehicle, the lane of the approaching vehicle is determined from angular resolution of the radar signal. When the vehicle is approaching at an extremely fast rate and the angular resolution of the radar signal is not capable of determining an exact relative lane of the approaching vehicle due to the vehicle being too far away, the assistance system warns against or prevents lane changes by the host vehicle.

Claims

1. A lane assistance system for providing a fast rearwardly approaching vehicle output or an extremely fast rearwardly approaching vehicle output in response to a rearwardly approaching vehicle nearing a host vehicle, the system comprising:

at least one rear sensor unit disposed proximate to a rear of the host vehicle, the at least one rear sensor unit configured to detect at least one of a distance and a velocity of a rearwardly approaching vehicle moving toward the host vehicle; and

an electronic controller configured to;

obtain host vehicle velocity information,

obtain at least one of a distance and a velocity of a rearwardly approaching vehicle,

determine a relative velocity of a rearwardly approaching vehicle in relation to the host vehicle;

when a lane of a rearwardly approaching vehicle is obtained via the at least one rear sensor unit,

upon determining that (a) a rearwardly approaching vehicle is within at least one neighboring lane on either side of a host vehicle lane that the host vehicle is traveling in, and (b) the relative velocity indicates a rearwardly approaching vehicle is approaching the host vehicle at or greater than a fast relative velocity threshold, providing the fast rearwardly approaching vehicle output,

when a lane of a rearwardly approaching vehicle is not determinable due to a lack of angular resolution for the rear sensor unit,

upon determining that a rearwardly approaching vehicle has a relative velocity that is at or greater than an extremely fast relative velocity threshold, providing the extremely fast rearwardly approaching vehicle output.

2. The assistance system according to claim 1, wherein the electronic controller is provided within the rear sensor unit that includes a rear radar sensor for sensing a velocity of a rearwardly approaching vehicle, and wherein the lack of angular resolution occurs when a rearwardly approaching vehicle is beyond a particular distance from the host vehicle.

3. The assistance system according to claim 2, wherein the fast rearwardly approaching vehicle output and the extremely fast rearwardly approaching vehicle output are provided to a warning unit for providing a warning to an operator of the host vehicle in response to the fast rearwardly approaching vehicle output or the extremely fast rearwardly approaching vehicle output.

4. The assistance system according to claim 3, wherein the warning comprises at least one of an acoustic warning and a visual warning, and in response to the fast rearwardly approaching vehicle output, the warning indicates a particular lane change that must be avoided.

5. The assistance system according to claim 3, wherein in response to the extremely fast rearwardly approaching vehicle output, the warning indicates that a lane change is inappropriate.

6. The assistance system according to claim 1, wherein the electronic controller is a central controller that determines autonomous control of the host vehicle in response to the fast rearwardly approaching vehicle output or the extremely fast rearwardly approaching vehicle output, and other information from the host vehicle.

7. The assistance system according to claim 1, wherein the at least one rear sensor unit is a left rear sensor unit, the assistance system including a right rear sensor unit.

8. The assistance system according to claim 7, wherein the left rear sensor unit and the right rear sensor unit are lidar rear sensor units that determine a distance of a rearwardly approaching vehicle from the host vehicle, and wherein the electronic controller determines the relative velocity from detected changes in distance between the host vehicle and a rearwardly approaching vehicle.

9. The assistance system according to claim 1, wherein the extremely fast relative velocity threshold is at least about 45 miles per hour.

10. The assistance system according to claim 9, wherein the fast relative velocity threshold is a value within a range from at least about 10 miles per hour to about 25 miles per hour.

11. A method for providing a fast rearwardly approaching vehicle output or an extremely fast rearwardly approaching vehicle output in response to a rearwardly approaching vehicle nearing a host vehicle, the method comprising:

obtaining at least one of a distance and a velocity of a rearwardly approaching vehicle;

determining a relative velocity of a rearwardly approaching vehicle in relation to the host vehicle;

when a lane of a rearwardly approaching vehicle is obtained via the at least one rear sensor unit, providing the fast rearwardly approaching vehicle output upon determining that a rearwardly approaching vehicle is within at least one neighboring lane on either side of a host vehicle lane that the host vehicle is driving in and that the relative velocity indicates a rearwardly approaching vehicle is approaching the host vehicle at or greater than a fast relative velocity threshold; and

when a lane of a rearwardly approaching vehicle is not determinable due to a lack of angular resolution for the rear sensor unit, providing the extremely fast rearwardly approaching vehicle output upon determining that a rearwardly approaching vehicle has a relative velocity that is at or greater than an extremely fast relative velocity threshold.

12. The method according to claim 11, including obtaining host vehicle velocity information, and wherein obtaining at least one of a distance and a velocity of a rearwardly approaching vehicle is provided by a rear radar sensor unit, and wherein the angular resolution for the rear sensor unit is not determinable when a rearwardly approaching vehicle is beyond a particular distance from the host vehicle.

13. The method according to claim 12, including providing a warning to an operator of the host vehicle in response to the fast rearwardly approaching vehicle output or the extremely fast rearwardly approaching vehicle output.

14. The method according to claim 13, wherein the warning comprises at least one of an acoustic and visual warning, and in response to the fast rearwardly approaching vehicle output, the warning indicates a lane change to at least one adjacent lane that must be avoided.

15. The method according to claim 13, wherein in response to the extremely fast rearwardly approaching vehicle output, the warning indicates that a lane change is inappropriate.

16. The method according to claim 11, including providing autonomous control of the host vehicle in response to the fast rearwardly approaching vehicle output or the extremely fast rearwardly approaching vehicle output.

17. The method according to claim 16, including preventing the host vehicle from performing a lane change into either adjacent lane in response to the extremely fast rearwardly approaching vehicle output.

18. The method according to claim 16, including preventing the host vehicle from performing a lane change into at least one of two adjacent lanes in response to the fast rearwardly approaching vehicle output.

19. The method according to claim 16, including determining an augmented chance of collision and with the autonomous control preventing a lane change into at least one adjacent lane of the roadway regardless of any other condition.

20. The method according to claim 11, wherein the extremely fast relative velocity threshold is at least about 45 miles per hour and the fast relative velocity threshold is a value within a range from at least about 10 miles per hour to about 25 miles per hour.