Driving Aid System And Method Of Creating A Model Of Surroundings Of A Vehicle

• US 20090005959A1
• Filed: 03/09/2007
• Published: 01/01/2009
• Est. Priority Date: 04/03/2006
• Status: Active Grant

• Current Assignee: Arriver Software AB (Qualcomm, Inc.)
• Original Assignee: Autoliv Development AB (Autoliv Incorporated)
• Inventors: Bargman, Jonas, Kallhammer, Jan-Erik
• Granted Patent: US 8,346,463 B2
• Time in Patent Office: Days
• US Class Current: 701/117
• CPC Class Codes: G01C 21/3844 Data obtained from position sensors only, e.g. from inertial navigation
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 2015/935 for measuring the contour, e.g. a trajectory of measurement points, representing the boundary of the parking space
• CPC Class Codes: G01S 7/4802 using analysis of echo signal for target characterisation; Target signature; Target cross-section
• CPC Class Codes: G06V 20/10 Terrestrial scenes scenes under surveillance with static cameras G06V20/52; scenes perceived from the exterior of a vehicle G06V20/56; scenes perceived from the interior of a vehicle G06V20/59
• CPC Class Codes: G06V 20/58 Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• 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

In at least one embodiment of the present invention a driving aid system for mounting in a road vehicle is provided. The driving aid system comprises a detection system for detecting and storing profiles of characteristics of objects around the vehicle along a road on which the vehicle is being driven. A positioning system is for providing a current position of the vehicle. Profiles of characteristics of objects are stored in relation to the detected position of the vehicle. A processing arrangement compares currently detected profiles with earlier stored profiles and, if a match between a currently detected profile and an earlier stored profile is found, then the current position of the vehicle is determined relative to an object corresponding to the earlier stored profile, and the same or other earlier stored profiles is used to predict the future surroundings of the vehicle.

Claims

1. A driving aid system for a road vehicle comprising:

a detection system for detecting and storing profiles of characteristics of objects around the vehicle along a road on which the vehicle is being driven;

a positioning system for providing a current position of the vehicle to define a detected position of the vehicle, the profiles of characteristics of objects being stored in relation to the detected position of the vehicle; and

a processing arrangement for comparing the profiles of characteristics of objects including currently detected profiles with earlier stored profiles and, if a match between one of the currently detected profiles and one of the earlier stored profiles is found, determining the current position of the vehicle relative to an object corresponding to the earlier stored profile, and using the one or another of the earlier stored profiles to predict future surroundings of the vehicle, wherein when a match between the currently detected profile and the earlier stored profile is found, the earlier stored profile of the object is at least one of enhanced and updated using the currently detected profile.

2. A driving aid system according to claim 1,

wherein the processing arrangement analyzes speed and direction of movement of moving objects detected by the detection system.

3. A driving aid system according to claim 2, wherein the driving aid system is operably configured to determine whether a detected moving object is a vehicle or a pedestrian, and storing at least one of a position and a movement path of the moving object.

4. A driving aid system according to claim 3, wherein the driving aid system is operably configured to inform a driver of the vehicle if a pedestrian is detected in a location that is determined to be unusual.

5. A driving aid system according to claim 4, wherein the driving aid system is operably configured to inform the driver of the vehicle if detected behaviour of the pedestrian is determined to be unusual with regard to location of the pedestrian.

6. A driving aid system according to claim 3, wherein one of frequency and intensity of the detected moving object along the movement path is stored.

7. A driving aid system according to claim 6, wherein the driving aid system is operably configured to identify areas of high pedestrian activity.

8. A driving aid system according to claim 1,

wherein the detection system only stores profiles relating to objects that appear to be fixed in position.

9. A driving aid system according to claim 1,

wherein profiles relating to defects along driving paths along which the vehicle has not traveled for one of a predetermined time and distance are deleted.

10. A driving aid system according to claim 1, wherein the positioning system comprises one of GPS and dead reckoning.

14. A driving aid system according to claim 1, wherein the detection system further comprises processing means for extracting simplified features of objects to provide the profiles of characteristics of objects, the simplified features of the objects being added to a model of the surroundings of the vehicle.

15. A driving aid system according to claim 1, wherein allowable driving paths are determined from detected movement of at least one of the vehicle and other vehicles.

19. A driving aid system according to claim 1, wherein the driving aid system is operably configured to identify certain complex traffic areas as intersections.

20. A driving aid system according to claim 19, wherein the intersections are classified as falling into at least one intersection classification.

23. A driving aid system according to claim 20, wherein the classification of the intersection is used to provide an indication to a driver of the vehicle as to where the driver should look while at least one of approaching and negotiating the intersection.

24. A driving aid system according to claim 19 wherein profiles are only stored if they fall within an area that is determined to contain at least one of the intersections.

26. A driving aid system according to claim 1, wherein profiles relating to objects that are not present every time the vehicle passes the location in which the object was previously detected are deleted.

28. A driving aid system according to claim 1, wherein the detection system is operable to make an initial determination of the current position of the vehicle when the vehicle approaches an area containing one or more objects in respect of which profiles have been stored, and wherein the position of the vehicle relative to the one or more objects in respect of which profiles have been stored is determined when the match between the currently detected profile and the stored profile is made.

29. A driving aid system according to claim 1, wherein the driver aid system is operably configured to make a determination that a hazardous situation is likely to occur, and to activate one or more vehicle safety systems in response making the determination.

33. A driving aid system according to claim 1, wherein the current position of the vehicle relative to a stored map is determined, with the current position of the vehicle relative to the stored map being at least one of corrected and updated when the match between the stored profile and the currently detected profile is made.

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