Collision warning and safety countermeasure system

• US 20030149530A1
• Filed: 02/01/2002
• Published: 08/07/2003
• Est. Priority Date: 02/01/2002
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Stopczynski, Lawrence Gerard
• Granted Patent: US 6,721,659 B2
• Time in Patent Office: Days
• US Class Current: 701/301
• CPC Class Codes: B60R 2021/0051 Knees
• CPC Class Codes: B60R 21/013 including means for detecting collisions, impending collisions or roll-over
• CPC Class Codes: B60R 21/0134 responsive to imminent contact with an obstacle , e.g. using radar systems
• CPC Class Codes: B60R 21/015 including means for detecting the presence or position of passengers, passenger seats or child seats , and the related safety parameters therefor, e.g. speed or timing of airbag inflation in relation to occupant position or seat belt use
• CPC Class Codes: B60W 2050/0052 Filtering, filters
• CPC Class Codes: B60W 2520/105 Longitudinal acceleration
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2520/16 Pitch
• CPC Class Codes: B60W 2520/18 Roll
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A collision warning and safety countermeasure system (10) for an automotive vehicle (12) having a vehicle sensor complex (18) and generating a vehicle sensor complex signal is provided. The system (10) includes a sensor fusion (14) that generates an object status signal. A threat assessor (16) generates a vehicle status signal in response to the vehicle sensor complex signal. The threat assessor (16) also in response to the vehicle status signal and the object status signal generates a collision assessment signal. An active countermeasure controller (20) generates an active countermeasure signal in response to the collision assessment signal and the vehicle sensor complex signal. A passive countermeasure controller (22) generates a passive countermeasure signal in response to the collision assessment signal and the vehicle sensor complex signal. An indicator (30) generates a collision-warning signal in response to the collision assessment signal. A method for performing the same is also provided.

Claims

1. A collision warning and safety countermeasure system for an automotive vehicle having a vehicle sensor complex and generating a vehicle sensor complex signal, said system comprising:

a sensor fusion generating an object status signal;

a threat assessor electrically coupled to said sensor fusion and the vehicle sensor complex, said threat assessor generating a vehicle status signal in response to the vehicle sensor complex signal;

said threat assessor in response to said vehicle status signal and said object status signal generating a collision assessment signal;

an active countermeasure controller electrically coupled to said threat assessor and comprising;

an operator intent estimator generating an operator intent estimator signal in response to said vehicle sensor complex signal;

said active countermeasure controller generating an active countermeasure signal in response to said collision assessment signal, the vehicle sensor complex signal, and said operator intent estimator signal;

a passive countermeasure controller electrically coupled to said threat assessor, said passive countermeasure controller generating a passive countermeasure signal in response to said collision assessment signal and the vehicle sensor complex signal; and

an indicator electrically coupled to said threat assessor and generating a collision warning signal in response to said collision assessment signal.

2. A system as in claim 1 further comprising a sensor controller electrically coupled to said threat assessor and said sensor fusion, said sensor controller signaling said sensor fusion in response to said collision assessment signal.

3. A system as in claim 1 wherein said indicator is electrically coupled to said sensor fusion and generates a collision warning signal in response to said object status signal.

4. A system as in claim 3 wherein said indicator generates a collision warning signal in response to said vehicle status signal.

5. A system as in claim 1 further comprising:

said sensor fusion generating a surroundings status signal; and

said threat assessor generating said collision assessment signal in response to said surroundings status signal.

6. A system as in claim 5 wherein said surroundings status signal comprises at least one of a camera scene and an infrared scene.

7. A system as in claim 6 wherein said object status signal comprises at least one of an object relative position signal, an object relative velocity signal, an object identification status signal, and an object future path signal.

8. A system as in claim 7 wherein said threat assessor further comprises a path estimator predicting the vehicle future path and the object future path in response to said vehicle future path signal and said object future path signal.

9. A system as in claim 1 wherein said threat assessor further comprises a collision estimator for generating said collision assessment signal.

10. A system as in claim 1 wherein said active countermeasure controller further comprises a chassis estimator generating a chassis estimator signal in response to said vehicle sensor complex signal.

11. A system as in claim 10 wherein said active countermeasure controller generates said active countermeasure signal in response to said chassis estimator signal.

12. A system as in claim 1 wherein said active countermeasure signal comprises at least one of a brake control signal, a throttle control signal, a steering control signal, a suspension control signal, a transmission control signal.

13. A system as in claim 1 wherein said indicator is electrically coupled to said active countermeasure controller and generates said collision warning signal in response to said active countermeasure signal.

14. A system as in claim 1 wherein said passive countermeasure controller further comprises a collision severity estimator generating a collision severity signal in response to said collision assessment signal and said vehicle sensor complex signal.

15. A system as in claim 14 wherein said passive countermeasure controller further comprises an occupant position estimator generating an occupant position estimator signal in response to said vehicle sensor complex signal.

16. A system as in claim 15 wherein said passive countermeasure controller generat es s aid passive coun termeasure signal in response to said collision severity signal an d said occupant position estimator signal.

17. A system as in claim 1 wherein said passive countermeasure signal comprises at least one of an internal air bag signal, a seatbelt signal, a knee bolster signal, a head restraint signal, a load limiting pedal signal, a load limiting steering signal, a pretensioner signal, an external air bag signal, and a pedestrian protection signal.

18. A system as in claim 1 wherein said threat assessor generates said collision assessment signal in response to said active countermeasure signal.

19. A system as in claim 1 wherein said collision warning signal comprises prognostics.

20. A system as in claim 1 wherein said indicator generates a post collision signal.

21. A system as in claim 1 wherein said passive countermeasure controller further comprises a crash severity estimator generating a collision severity estimator signal in response to said vehicle sensor complex signal and said collision assessment signal.

22. A system as in claim 21 wherein said collision severity estimator further comprises a timing filter, said timing filter filtering false object time to collision data.

23. A system as in claim 21 wherein said collision severity estimator further comprises a spatial filter, said spatial filter filtering false object point of collision data.

24. A system as in claim 21 wherein said passive countermeasure controller further comprises:

a local collision acceleration estimator generating an accelerometer based collision severity signal;

said crash severity estimator generating said collision severity estimator signal and an accelerometer based collision severity signal in response to said accelerometer based collision severity signal.

25. A system as in claim 24 wherein said passive countermeasure controller further comprises an occupant position estimator generating an occupant position estimator signal in response to said collision assessment signal and said vehicle sensor complex signal.

26. A system as in claim 25 wherein said passive countermeasure controller further comprises:

a local collision acceleration estimator generating an accelerometer based collision severity signal;

said occupant position estimator generating an occupant position signal in response to said collision severity signal.

27. A system as in claim 26 wherein said passive countermeasure controller further comprises:

a countermeasure matrix generator generating a maximum subset countermeasure matrix and an available countermeasure matrix in response to said vehicle sensor complex signal and said collision assessment signal; and

a passive countermeasure deployment device generating said passive countermeasure signal in response to said vehicle sensor complex signal, said collision assessment signal, said collision severity estimator signal, said accelerometer based collision severity signal, said occupant position estimator signal, said maximum subset countermeasure matrix and said available countermeasure matrix.

28. A collision warning and safety countermeasure system for an automotive vehicle having a vehicle sensor complex and generating a vehicle sensor complex signal, said system comprising:

a sensor fusion generating an object status signal;

a threat assessor electrically coupled to said sensor fusion and the vehicle sensor complex, said threat assessor generating a vehicle status signal in response to the vehicle sensor complex signal and comprising;

a path estimator generating a vehicle predicted future path signal and an object predicted future path signal in response to said vehicle status signal and said object status signal; and

a collision estimator generating a collision assessment signal in response to, said vehicle status signal, said object status signal, said vehicle predicted future path signal, and said object predicted future path signal;

a sensor controller electrically coupled to said sensor fusion and said threat assessor, said sensor controller signaling said sensor fusion in response to said collision assessment signal;

an active countermeasure controller electrically coupled to said threat assessor, said active countermeasure controller comprising;

a chassis estimator generating a chassis estimator signal in response to said vehicle sensor complex signal; and

an operator intent estimator generating an active countermeasure signal in response to said vehicle sensor complex signal and said chassis estimator signal;

a passive countermeasure controller electrically coupled to said threat assessor, said passive countermeasure controller comprising;

a collision severity estimator generating a collision severity signal in response to said collision assessment signal and said vehicle sensor complex signal;

an occupant position estimator generating an occupant position estimator signal in response to said vehicle sensor complex signal;

said passive countermeasure controller generating a passive countermeasure signal in response to said collision severity signal and said occupant position estimator signal; and

an indicator electrically coupled to said threat assessor and generating a collision warning signal in response to said collision assessment signal.

29. A method of collision warning and activating safety countermeasures for an automotive vehicle having a vehicle sensor complex and generating a vehicle sensor complex signal, said method comprising;

detecting an object and generating an object status signal;

determining the vehicle status in response to the vehicle sensor complex signal and generating a vehicle status signal;

assessing the potential for a collision between said vehicle and said object and generating a collision assessment signal in response to said object status signal and said vehicle status signal;

implementing active countermeasures in response to said collision assessment signal and the vehicle sensor complex signal;

implementing passive countermeasures in response to said collision assessment signal and the vehicle sensor complex signal; and

indicating a collision warning signal in response to said collision assessment signal.

30. A method as in claim 29 wherein generating a collision assessment signal further comprising:

generating a vehicle predicted future path signal and an object predicted future path signal in response to said vehicle status signal and said object status signal; and

generating said collision assessment signal in response to, said vehicle status signal, said object status signal, said vehicle predicted future path signal, and said object predicted future path signal.

31. A method as in claim 29 further comprising signaling said sensor fusion in response to said collision assessment signal.

32. A method as in claim 29 wherein generating an active countermeasure signal further comprises:

generating a chassis estimator signal in response to said vehicle sensor complex signal; and

generating an active countermeasure signal in response to said vehicle sensor complex signal and said chassis estimator signal.

33. A method as in claim 29 wherein generating a passive countermeasure signal further comprises:

generating a collision severity signal in response to said collision assessment signal and said vehicle sensor complex signal; and

generating an occupant position estimator signal in response to said vehicle sensor complex signal;

said passive countermeasure controller generating said passive countermeasure signal in response to said collision severity signal and said occupant position estimator signal.

34. A method as in claim 29 further comprising:

generating a maximum subset countermeasure matrix and an available countermeasure matrix in response to said vehicle sensor complex signal and said collision assessment signal; and

generating said passive countermeasure signal in response to said vehicle sensor complex signal, said collision assessment signal, said collision severity estimator signal, said accelerometer based collision severity signal, said occupant position estimator signal, said maximum subset countermeasure matrix and said available countermeasure matrix.