Collision avoidance system and method of detecting overpass locations using data fusion

• US 20080189039A1
• Filed: 02/06/2007
• Published: 08/07/2008
• Est. Priority Date: 02/06/2007
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations Incorporated (General Motors Company)
• Inventors: Hermiz, Sarmad Y., Sadekar, Varsha
• Granted Patent: US 8,935,086 B2
• Time in Patent Office: Days
• US Class Current: 701/301
• CPC Class Codes: G08G 1/096716 where the received information does not generate an automatic action on the vehicle control
• CPC Class Codes: G08G 1/096741 where the source of the transmitted information selects which information to transmit to each vehicle
• CPC Class Codes: G08G 1/096791 where the origin of the information is another vehicle
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• 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 avoidance system adapted for use with a vehicle, and a method of modifying a first warning assessment algorithm of the system to reduce false alerts caused by overpasses, and maintain sufficient warning distances are presented, wherein the system includes at least one sensor operable to detect an object location, a locator device operable to determine the current position coordinates of the vehicle, a map database presenting a plurality of overpass locations ahead of the vehicle, and an electronic control unit operable to execute a second algorithm, if the detected object location generally matches an overpass location, and in a preferred embodiment, a third algorithm, if the detected location does not match an overpass location, such that the third algorithm is executable over a shorter period than the second, and the second algorithm is executable over a shorter period than the first.

Claims

1. A collision avoidance system adapted for use with a host vehicle, and by an operator, said system comprising:

at least one sensor configured to detect an object located a minimum threshold distance from the vehicle, so as to determine a detected object location;

a map database including a plurality of intersecting links, and denoting overpass locations;

a locator device communicatively coupled to the map database, and configured to detect the current position coordinates of the vehicle within the map database; and

an electronic control unit communicatively coupled to the sensor, database, and device, and programmably configured to autonomously;

execute a warning assessment algorithm,

compare the detected object location with the overpass locations, so as to determine whether the detected object location is generally at an overpass location,

modify the warning assessment algorithm, when the detected object location is at a general overpass location, and

cause a warning perceivable by the operator to be generated, or a mitigating maneuver by the vehicle to be performed, when the execution of the algorithm detects a potential collision.

2. The system as claimed in claim 1,

said at least one sensor utilizing a technology selected from the group consisting essentially of radar, lidar, infrared, vision, and laser technologies.

3. The system as claimed in claim 2,

said sensor utilizing radar technology, and being configured to detect the object over a period, so as to determine a plurality of return signal strengths from the detection of the object,

said algorithm including determining a trend in the difference between successive strengths, wherein the preceding strength is subtracted from the succeeding strength.

4. The system as claimed in claim 3,

said unit being configured to cause the warning to generate when the trend is positive.

5. The system as claimed in claim 3,

said unit being configured to modify the algorithm by shortening the period, and determining a lesser plurality of return signal strengths from the detection of the object, when the detected object is at a general overpass location.

6. The system as claimed in claim 3,

said unit being configured to modify the algorithm, so as to cause the warning to be generated immediately upon detection of the object by the sensor, when the detected object is not at a general overpass location.

7. The system as claimed in claim 1,

said locator device including a GPS receiver,

said unit, device, and database being further configured to retrieve a portion of the database within a predetermined vicinity of the current position coordinates, and compare the current position coordinates and the overpass locations within the portion.

8. The system as claimed in claim 1, wherein the minimum threshold distance is 150 meters.

10. The system as claimed in claim 1,

said first sensor utilizing radar technology,

said second sensor utilizing vision technology.

11. The system as claimed in claim 10,

said first sensor and unit being cooperatively configured to further detect a second object, wherein the second object is moving, determine track data for the first and second objects over a first period of concurrent detection, and determine whether the second object passes through the location of the first object during the first period.

12. The system as claimed in claim 10,

said second sensor and unit being cooperatively configured to further detect the signature pattern of the first object, and determine whether the pattern presents an overpass.

13. The system as claimed in claim 12,

said signature pattern including a wide object across the field of view, a horizontal longitudinal orientation relative to the ground plane,

14. The system as claimed in claim 13, wherein the pattern further includes higher light intensity above the object, and lower light intensity below the object, when the object is detected in daylight.

15. the system as claimed in claim 10,

said first sensor and unit being cooperatively configured to further detect the presence of a second object, wherein the second object is moving, determine track data for the objects over a first period of concurrent detection, and determine whether the second object passes through the location of the first object during the first period,

said second sensor and unit being cooperatively configured to further detect the signature pattern of the first object, and determine whether the pattern presents an overpass,

said unit being further configured to combine first sensor detected first object locations having second objects passing therethrough, and second sensor detected object locations having overpass signature patterns into a single table of overpass locations.

16. The system as claimed in claim 15,

said unit being further configured to modify the algorithm, when the second object passes through the location of the first object, or the pattern presents an overpass, and the detected object location is generally at an overpass location.

17. The system as claimed in claim 16,

said first sensor and unit being cooperatively configured to determine a plurality of return signal strengths from the detection of the first object,

said algorithm including determining a trend in the difference between successive strengths.

18. The system as claimed in claim 17,

said unit being configured to modify the algorithm by determining a lesser plurality of return signal strengths from the detection of the object, when the detected object location is at a general overpass location.

19. The system as claimed in claim 17,

said unit being configured to modify the algorithm, so as to cause the warning to be generated immediately, when the detected object location is not at a general overpass location.

9. A collision avoidance system adapted for use with a host vehicle, and by an operator, said system comprising:

a first sensor utilizing a first technology, and configured to detect a first stationary object located a minimum threshold general distance from the vehicle, so as to determine a sensor-detected object location;

a second sensor utilizing a second technology, and configured to detect the first object at the minimum threshold general distance from the vehicle;

a map database including a plurality of intersecting links, and denoting overpass locations;

a locator device communicatively coupled to the map database, and configured to detect the current position coordinates of the vehicle within the map database; and

an electronic control unit communicatively coupled to the sensor, database, and device, and programmably configured to autonomously;

execute a warning assessment algorithm,

compare the detected object location with the overpass locations, so as to determine whether the detected object location is generally at an overpass location,

modify the warning assessment algorithm, when the detected object location is generally at an overpass location, and

cause a warning perceivable by the operator to be generated, or a mitigating maneuver by the vehicle to be performed, when the execution of the algorithm detects a potential collision with the first object.

20. A method of modifying a first warning assessment algorithm of a sensor based collision avoidance system adapted for use with a vehicle, so as to reduce false alerts caused by overpasses, said method comprising the steps of:

a. autonomously determining the current position coordinates, and heading of the vehicle;

b. autonomously retrieving the position coordinates of at least one overpass location within a predetermined vicinity ahead of the vehicle from a database;

c. detecting an approaching object at least a minimum threshold distance from the vehicle, and determining the detected position coordinates of the object;

d. comparing the detected position coordinates to the position coordinates of said at least one overpass location from the database; and

e. executing a second warning assessment algorithm, if the detected coordinates generally match the position coordinates of a database overpass location, and a third warning assessment algorithm, if the detected coordinates do not match the position coordinates of a database overpass location, wherein said third warning assessment algorithm is executable over a shorter period than the second, and the second warning assessment algorithm is executable over a shorter period than the first.