Systems and methods for determining threshold warning distances for collision avoidance

• US 20070255498A1
• Filed: 04/28/2006
• Published: 11/01/2007
• Est. Priority Date: 04/28/2006
• Status: Abandoned Application

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: McDaniel, Michael, Travis, Dexter, Coats, Robert
• Application Number:
  US11/412,881
• Publication Number:
  US 20070255498A1
• Time in Patent Office: Days
• US Class Current: 701/301
• CPC Class Codes: B60W 2552/15 Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• 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 2013/9324 Alternative operation using ultrasonic waves
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons

Abstract

A method for determining a threshold distance for a collision warning system includes receiving, from at least one sensing device, data indicative of a change of position of a target object relative to a host machine. The method further includes receiving data indicative of a velocity of the host machine and determining a closing rate associated with a rate of change of distance between the host machine and the target object based on the data indicative of a change of position of the target object relative to the host machine. The method also includes calculating a velocity of the target object based on the velocity of the host machine and the closing rate. The method further includes determining a threshold distance between the host machine and the target object, wherein the threshold distance is a function of the velocity of the target object, the velocity of the host machine, and a reaction time associated with one or more of the host machine velocity, the target object velocity, or an environmental condition. The method also includes providing a signal indicative of the threshold distance to an alarm system associated with a collision warning system.

Claims

1. A method for determining a threshold distance for a collision warning system, comprising:

receiving, from at least one sensing device, data indicative of a change of position of a target object relative to a host machine;

receiving data indicative of a velocity of the host machine;

determining a closing rate associated with a rate of change of distance between the host machine and the target object based on the data indicative of a change of position of the target object relative to the host machine;

estimating a velocity of the target object based on the velocity of the host machine and the closing rate; and

determining a threshold distance between the host machine and the target object, wherein the threshold distance is a function of the velocity of the target object, the velocity of the host machine, and a reaction time associated with one or more of the host machine velocity or the target object velocity.

2. The method of claim 1, further including determining a distance between the host machine and the target object based on one or more of the data indicative of a change of position of the target object relative to the host machine and the determined closing rate.

3. The method of claim 2, wherein determining a distance between the host machine and the target object includes:

receiving the signal indicative of the threshold distance;

providing a threshold warning signal if the distance between the host machine and the target object is less than the threshold distance.

4. The method of claim 1, further including determining an angle of inclination associated with the host machine.

5. The method of claim 4, wherein determining the threshold distance further includes determining a stopping distance associated with the host machine based on the velocity of the host machine and the angle of inclination associated with the host machine.

6. The method of claim 5, wherein determining the threshold distance further includes determining whether the target object is approaching the host machine.

7. The method of claim 6, wherein determining the threshold distance further includes:

calculating, if the target object is approaching the host machine, the threshold distance as a sum of the stopping distance associated with the host machine and the stopping distance associated with the target object; and

calculating, if the target object is not approaching the host machine, the threshold distance as a difference between the stopping distance associated with the host machine and the stopping distance associated with the target object.

8. The method of claim 1, wherein the reaction time includes a predetermined value obtained from a database associated with the controller.

9. The method of claim 1, wherein the reaction time is estimated based on one or more environmental conditions.

10. A collision warning system, comprising:

at least one sensing device configured to;

collect data indicative of a change of position of a target object relative to a host machine; and

a controller coupled to the at least one sensing device and configured to;

receive the data indicative of a change of position of a target object relative to a host machine;

receive data indicative of a velocity of the host machine;

determine a closing rate associated with a rate of change of distance between the host machine and the target object based on the data indicative of a change of position of a target object relative to a host machine;

estimate a velocity of the target object based on the velocity of the host machine and the closing rate; and

determine a threshold distance between the host machine and the target object, wherein the threshold distance is a function of the velocity of the target object, the velocity of the host machine, and a reaction time associated with one or more of the host machine velocity or the target object velocity.

11. The warning system of claim 10, wherein the controller is further configured to determine a distance between the host machine and the target object based on one or more of the data indicative of a change of position of the target object relative to the host machine and the determined closing rate.

12. The warning system of claim 11, further including an alarm system in communication with the controller and configured to:

receive a signal indicative of the threshold distance from the controller;

provide a threshold warning signal if the distance between the host machine and the target object is less than the threshold distance.

13. The warning system of claim 12, wherein the threshold warning signal includes one or more of an audible alarm, a visual alarm, or a vibrating alarm.

14. The warning system of claim 10, wherein the at least one sensing device is configured to measure the angle of inclination associated with the host machine.

15. The warning system of claim 14, wherein the controller is configured to determine the threshold distance by determining a stopping distance associated with the host machine based on the velocity of the host machine and the angle of inclination associated with the host machine.

16. The warning system of claim 15, wherein the controller determines the threshold distance based on whether the target object is approaching the host machine.

17. The warning system of claim 16, wherein the controller determines the threshold distance by:

calculating, if the target object is approaching the host machine, the threshold distance as a sum of the stopping distance associated with the host machine and the stopping distance associated with the target object; and

calculating, if the target object is not approaching the host machine, the threshold distance as a difference between the stopping distance associated with the host machine and the stopping distance associated with the target object.

18. The warning system of claim 10, wherein the reaction time includes a predetermined value obtained from a database associated with the controller.

19. The warning system of claim 10, wherein the reaction time is estimated based on one or more environmental conditions.

20. A computer readable medium for use on a computer system, the computer readable medium having computer executable instructions for performing a method comprising:

receiving data indicative of a change of position of a target object relative to a host machine;

receiving data indicative of a velocity of the host machine;

determining a closing rate associated with a rate of change of distance between the host machine and the target object based on the data indicative of a change of position of a target object relative to a host machine;

estimate a velocity of the target object based on the velocity of the host machine and the closing rate; and

determining a threshold distance between the host machine and the target object, wherein the threshold distance is a function of the velocity of the target object, the velocity of the host machine, and a reaction time associated with one or more of the host machine velocity, the target object velocity, or an environmental condition.