METHOD AND SYSTEM FOR PREDICTING THE IMPACT BETWEEN A VEHICLE AND A PEDESTRIAN

• US 20090143987A1
• Filed: 07/10/2006
• Published: 06/04/2009
• Est. Priority Date: 08/19/2005
• Status: Abandoned Application

• Current Assignee: Renault Sas (Renault)
• Original Assignee: Renault Sas (Renault)
• Inventors: Wakim, Christophe, Bect, Julien
• Application Number:
  US12/064,201
• Publication Number:
  US 20090143987A1
• Time in Patent Office: Days
• US Class Current: 701/301
• CPC Class Codes: B60R 21/0134 responsive to imminent contact with an obstacle , e.g. using radar systems
• CPC Class Codes: B60R 21/34 Protecting non-occupants of a vehicle, e.g. pedestrians B60R19/02 takes precedence
• CPC Class Codes: B60W 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 40/02 related to ambient conditions
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention

Abstract

A method predicting impact between a vehicle and a detected moving pedestrian, generating N particles representing trajectory pairs of the vehicle and the pedestrian according to a Monte Carlo method, and then evaluating the outcome of each particle so that the space of states of each particle is split into areas of varying significance depending on its present kinematic state and so that in the case of a predicted non-impact, the relationship between the significance of the particle at the present instant and its significance at the preceding instant is calculated to decide, in a case of a particle whose significance increases, to reduce it to an integer greater than 1, of particles each affected by a new weight and, in a case of a particle whose significance decreases, randomly eliminating it according to the significance relationship, its probability to endure being equal to the relationship of significance, the estimation of the probability of the predicted impact being obtained by statistics on the outcome of N particles.

Claims

1-10. -10. (canceled)

11. A method of predicting impact between a vehicle and a detected moving pedestrian, comprising:

generating N particles representing pairs of vehicle and pedestrian trajectories, having as an origin a situation whose impact characteristics are to be evaluated, based on a vehicle model and a pedestrian model with plural discrete states, of initial positions of the vehicle and of the pedestrian and of information about their respective kinematic states; and

evaluating an outcome of each particle,

wherein the particle state space is sliced into zones of variable significance, the significance being defined by a numerical value directly related to interest accorded to each particle and dependent on its present kinematic state, and

wherein in an event of predicted non-impact, the method further calculates the ratio of the significance of the particle at a present instant to its significance at a previous instant so as to decide, in a case of a particle whose significance is increasing, to scale it down into an integer number n, greater than 1, of particles each assigned a new weight and, in a case of a particle whose significance decreases, to eliminate it as a function of the significance ratio, its probability of survival being equal to the significance ratio, estimation of the probability of impact and characteristics of the predicted impact being obtained thereafter by application of statistics on outcomes of the set of N particles.

12. The method of predicting impact as claimed in claim 11, wherein the slicing of the space into significance zones in front of the vehicle, according to an instantaneous orthonormal reference frame tied to the front of the vehicle, is carried out based on relative distance between the vehicle and the pedestrian, defining the significance zones in a form of circular annuli, centered on the middle of a bumper of the vehicle and whose diameter is the bumper.

13. The method of predicting impact as claimed in claim 11, wherein the slicing of the space into significance zones in front of the vehicle, according to an instantaneous orthonormal reference frame tied to the front of the vehicle, is carried out based on a longitudinal component of relative speed due to the vehicle and its lateral component, which is regarded as that of the pedestrian, defining the significance zones in a form of ellipses, centered on the middle of a bumper of the vehicle, with semi minor axis on the ordinate axis and with semi major axis on the abscissa axis.

14. The method of predicting impact as claimed in claim 13, wherein the slicing of the space into significance zones in front of the vehicle, according to an instantaneous orthonormal reference frame tied to the front of the vehicle, is carried out according to a value of lifetime of the particle, or time before overtaking, necessary so that longitudinal position of the pedestrian is level with the front face of the vehicle, at each instant of the simulation, and wherein the shorter the lifetime, the higher the significance of the zone, only the longitudinal position of the pedestrian and of the pedestrian speed being then taken into account, defining the significance zones in a form of bands parallel to ordinate axis.

15. The method of predicting impact as claimed in claim 11, wherein the slicing of the space into significance zones in front of the vehicle, according to an instantaneous orthonormal reference frame tied to the front of the vehicle, is carried out by taking account of angular position of the pedestrian in the plane defined by axes of the reference frame of the vehicle, obtained with the ratio of lateral position (y) of the pedestrian to longitudinal position (x) of the pedestrian, defining the significance zones in a form of sectors of origin, making with respect to the abscissa axis, an angle (θ

) equal to the arc tangent of the ratio of these two positions;

θ

=arctan(y/x).

16. The method of predicting impact as claimed in claim 11, wherein the slicing of the space into significance zones in front of the vehicle, according to an instantaneous orthonormal reference frame tied to the front of the vehicle, is carried out based on a direction of relative speed of the pedestrian with respect to the vehicle, obtained either by arc tangent of ratio of longitudinal speed to lateral speed of the pedestrian, or by arc tangent of ratio of speed of the pedestrian (V_ped) to that of the vehicle (V_veh):

α

=arctan(V_ped/V_veh)

defining the significance zones in a form of isosceles triangles, of height on an abscissa axis and of base on an ordinate axis, and of angle (α

) at the vertex defined by the arc tangent of the ratio of the speed of the pedestrian to that of the vehicle;

α

=arctan(V_ped/V_veh).

17. The method of predicting impact as claimed in claim 11, wherein the slicing of the space into significance zones ahead of the vehicle, according to an instantaneous orthonormal reference frame tied to the front of the vehicle, is carried out based on deterministic prediction, which simultaneously uses a lifetime (τ

) of the particle and the ordinate (y*), which estimates the lateral position (y) of the pedestrian when the longitudinal position of the pedestrian will be zero and which is defined, with the lateral speed of the pedestrian (V_y^ped), by;

y*=y+τ

*V_y^ped

three significance levels being defined as a function of absolute value of y*;

if |y*|<

y_impact, the significance is high,

if y_impact≦

|y*|≦

Y_unc, the significance is maximal,

if Y_unc<

|y*|, the significance is less, and lower than the first.

18. The method of predicting impact as claimed in claim 11, further comprising:

determining initial kinematic state of the vehicle [E_v(t₀)] and of the pedestrian [E_p(t₀)], followed by generating a number (N_i) of particles, each assigned a weight (p_i) and corresponding to a pair of simulated trajectories for the vehicle and the pedestrian at the instant (t_i), and for each of which a kinematic state [E_v(t_i) and E_p(t_i)] is simulated which is thereafter compared with the initial state,

in a case there is impact, estimating and storing characteristics of the impact, before eliminating the particle considered and continuing simulation with a following particle up to an N_i^th particle,

in a case of an exit from the impact zone, without there having been any impact, storing characteristics of the trajectory considered before its elimination and continuation of the simulation with the following particle up to the N_i^th particle,

in a case there is no impact, verifying the simulation has not terminated, and if the simulation has terminated without impact, storing the last trajectory and its elimination,

in a case there is no impact, the particle considered having survived, calculating the ratio (β

_i,k) of the value of the significance (I_i,k) associated with its new state at the instant (t_i) in the state space to its value at the previous instant (t<sub>i−

1</sub>), which is thereafter compared with 1;

if the ratio β

_i,k is equal to 1, the trajectory does not exhibit a growing interest and the method passes to a following simulated trajectory,

if the ratio β

_i,k is less than 1, random elimination by a “

Russian roulette”

of the particle which is of no interest, with allocation of a new weight (p_k) if it survives,

if the ratio β

_i,k is greater than 1, scaledown by splitting of the particle considered to be significant into a number [n(k)] of new particles each assigned a weight, different from that of the significant particle, which particles will be processed at the following instant (t_i+1),

after verifying all the N_i particles have been processed, estimating probability of impact and of characteristics of the possible impact on the basis of statistics on the weights stored.

19. A system for implementing the method of predicting impact between a vehicle and a detected moving pedestrian, carried on board the vehicle, as claimed in claim 11, comprising:

means for detecting obstacles in the environment of the vehicle that are associated with means for estimating their position and their speed and that are linked to vehicle/pedestrian impact prediction means, the prediction means additionally receiving information about dynamics of the vehicle equipped with the system on part of sensors connected to controls of the vehicle, and associating with each detected obstacle a probability of impact, a time before impact, an envisaged impact zone, and a probability of speed on impact, the information associated with each obstacle being thereafter dispatched to means for selecting an optimal counter-measure that the system must apply in an emergency to protect the pedestrian.

20. The implementation system as claimed in claim 19, wherein the impact prediction means associates with each detected obstacle an impact speed.