Collision Warning System Using Driver Intention Estimator

• US 20120016581A1
• Filed: 07/15/2011
• Published: 01/19/2012
• Est. Priority Date: 07/19/2010
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Mochizuki, Yutaka, Ishikawa, Kei
• Granted Patent: US 9,177,477 B2
• Time in Patent Office: Days
• US Class Current: 701/301
• CPC Class Codes: G08G 1/161 Decentralised systems, e.g. inter-vehicle communication
• CPC Class Codes: G08G 1/162 event-triggered
• CPC Class Codes: G08G 1/163 involving continuous checking
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A collision warning system for a subject vehicle is disclosed. The collision warning system uses data relating to the subject vehicle and a target vehicle in an algorithm to estimate the intention of the driver of the subject vehicle. The system uses historic data to improve the algorithm to obtain more accurate estimates.

Claims

1. A method of operating a collision warning system in a subject vehicle, comprising the steps of:

receiving information related to the subject vehicle;

receiving information related to a target vehicle;

calculating the state of the target vehicle;

using an algorithm to predict the intention of a driver of the target vehicle as the target vehicle approaches an intersection;

using the predicted intentions of the driver of the target vehicle to provide alerts through the collision warning system.

2. The method according to claim 1, wherein the input to the calculation of the state of the target vehicle includes the distance of the target vehicle from the intersection, and the current speed and acceleration of the target vehicle.

3. The method according to claim 2, wherein the input to the calculation of the state of the target vehicle further includes one or more of the state of turn signals of the target vehicle, yaw rate of the target vehicle, steering wheel angle of the target vehicle, and brake status of the target vehicle.

4. The method according to claim 1, wherein the algorithm for predicting the intentions of the driver of the target vehicle provides probabilities of target vehicle actions including going straight through the intersection, stopping at the intersection, and making a turn at the intersection.

5. The method according to claim 1, wherein the predicted intention of the driver of the target vehicle is determined by using probabilities between states of the target vehicle.

6. The method according to claim 5, wherein the state of the target vehicle with the highest probability is selected as the predicted intention of the driver of the target vehicle.

7. The method according to claim 5, wherein the probabilities between states of the target vehicle are dynamically updated.

8. The method according to claim 1, wherein the collision warning system changes warnings based on the predicted intention of the driver of the target vehicle.

9. A method of operating a collision warning system in a subject vehicle, comprising the steps of:

receiving information related to the subject vehicle;

receiving information related to a target vehicle;

calculating the state of the target vehicle;

using an algorithm to predict the intention of a driver of the target vehicle as the target vehicle approaches an intersection,

wherein the collision warning system predicts the intention of the driver of the target vehicle, a vehicle collision point is estimated, and time and distance to the estimated collision point is calculated,

if the time to the estimated collision point is less than a first predetermined quantity and more than a second predetermined quantity, the collision warning system provides an informing alert to the driver of the object vehicle, and

if the time to the estimated collision point is less than the second predetermined quantity, the collision warning system provides a warning alert to the driver of the object vehicle.

10. The method according to claim 9, wherein the input to the calculation of the state of the target vehicle includes the distance of the target vehicle from the intersection, and the current speed and acceleration of the target vehicle.

11. The method according to claim 10, wherein the input to the calculation of the state of the target vehicle further includes one or more of the state of turn signals of the target vehicle, yaw rate of the target vehicle, steering wheel angle of the target vehicle, and brake status of the target vehicle.

12. The method according to claim 9, wherein the algorithm for predicting the intention of the driver of the target vehicle provides probabilities of target vehicle actions including going straight through the intersection, stopping at the intersection, and making a turn at the intersection.

13. The method according to claim 9, wherein the predicted intention of the driver of the target vehicle is determined by using probabilities between states of the target vehicle.

14. The method according to claim 13, wherein the state of the target vehicle with the highest probability is selected as the predicted intention of the driver.

15. The method according to claim 13, wherein the probabilities between states of the target vehicle are dynamically updated.

16. A method of operating a collision warning system in a subject vehicle, comprising the steps of:

using information received from a target vehicle to predict the intentions of a driver of the target vehicle as the target vehicle approaches an intersection;

using the predicted intentions of the driver of the target vehicle to provide alerts through the collision warning system,

wherein predicted intentions of the driver of the target vehicle are compared to the actual actions of the driver of the target vehicle, and probabilities between states of the target vehicle used in the algorithm are updated when the predicted intentions of the driver of the target vehicle and the actual actions of the driver of the target vehicle are not the same.

17. The method according to claim 16, wherein the information received from the target vehicle includes the distance of the target vehicle from the intersection, and the current speed and acceleration of the target vehicle.

18. The method according to claim 16, wherein the predicted intentions of the driver of the target vehicle includes probabilities of target vehicle actions including going straight through the intersection, stopping at the intersection, and making a turn at the intersection.

19. The method according to claim 16, wherein the predicted intentions of the driver of the target vehicle are determined by using probabilities between states of the target vehicle.

20. The method according to claim 19, wherein the state of the target vehicle with the highest probability is selected as the predicted intention of the driver.

21. A method of operating a collision warning system in a subject vehicle, comprising the steps:

receiving information related to the subject vehicle;

receiving information related to a target vehicle;

calculating the state of the target vehicle;

calculating the state of the subject vehicle;

using an algorithm to predict the intention of a driver of the target vehicle as the target vehicle approaches an intersection;

using an algorithm to predict the intention of a driver of the subject vehicle as the subject vehicle approaches an intersection; and

using the predicted intentions of the driver of the target vehicle to provide alerts through the collision warning system.

22. The method according to claim 21, wherein the input to the calculation of the state of the target vehicle includes the distance of the target vehicle from the intersection, and the current speed and acceleration of the target vehicle, and wherein the input to the calculation of the state of the subject vehicle includes the distance of the subject vehicle from the intersection, and the current speed and acceleration of the subject vehicle.

23. The method according to claim 22, wherein the input to the calculation of the state of the target vehicle and subject vehicle further includes one or more of the state of turn signals of the target vehicle, yaw rate of the target vehicle, steering wheel angle of the target vehicle, and brake status of the target vehicle.

24. The method according to claim 21, wherein the algorithm for predicting the intentions of the driver of the target vehicle provides probabilities of target vehicle actions including going straight through the intersection, stopping at the intersection, and making a turn at the intersection, and wherein the algorithm for predicting the intentions of the driver of the subject vehicle provides probabilities of a subject vehicle actions including going straight through the intersection, stopping at the intersection, and making a turn at the intersection.

25. The method according to claim 21, wherein the predicted intention of the driver of the target vehicle is determined by using probabilities between states of the target vehicle, and wherein the predicted intention of the driver of the subject vehicle is determined by using probabilities between states of the subject vehicle.

26. The method according to claim 25, wherein the state of the target vehicle with the highest probability is selected as the predicted intention of the driver of the target vehicle, and wherein the state of the subject vehicle with the highest probability is selected as the predicted intention of the driver of the subject vehicle.

27. The method according to claim 25, wherein the probabilities between states of the target vehicle are dynamically updated, and wherein the probabilities between states of the subject vehicle are dynamically updated.

28. The method according to claim 21, wherein the collision warning system changes warning based on the predicted intention of the driver of the target vehicle.

29. A method of operating a collision warning system in a subject vehicle, comprising the steps:

receiving information related to the subject vehicle;

receiving information related to a target vehicle;

calculating the state of the target vehicle;

calculating the state of the subject vehicle;

using an algorithm to predict the intention of a driver of the target vehicle as the target vehicle approaches an intersection, wherein the collision warning system predicts the intention of the driver of the target vehicle, a vehicle collision point is estimated, and time and distance to the estimated collision point is calculated;

using an algorithm to predict the intention of a driver of the subject vehicle as the subject vehicle approaches an intersection, wherein the collision warning system predicts the intention of the driver of the subject vehicle, a vehicle collision point is estimated, and time and distance to the estimated collision point is calculated;

wherein if the time to the estimated collision point is less than a first predetermined quantity and more than a second predetermined quantity, the collision warning system provides an informing alert to the driver of the subject vehicle; and

wherein if the time to the estimated collision point is less than the second predetermined quantity, the collision warning system provides a warning alert to the driver of the subject vehicle.

30. The method according to claim 29, wherein the input to the calculation of the state of the target vehicle includes the distance of the target vehicle from the intersection, and the current speed and acceleration of the target vehicle, and wherein the input to the calculation of the state of the subject vehicle includes the distance of the subject vehicle from the intersection, and the current speed and acceleration of the subject vehicle.

31. The method according to claim 30, wherein the input to the calculation of the state of the target vehicle further includes one or more of the state of turn signals of the target vehicle, yaw rate of the target vehicle, steering wheel angle of the target vehicle, and brake status of the target vehicle, and wherein the input to the calculation of the state of the subject vehicle further includes one or more of the state of turn signals of the subject vehicle, yaw rate of the subject vehicle, steering wheel angle of the subject vehicle, and brake status of the subject vehicle.

32. The method according to claim 29, wherein the algorithm for predicting the intention of the driver of the target vehicle includes providing probabilities of target vehicle actions including going straight through the intersection, stopping at the intersection, and making a turn at the intersection, and wherein the algorithm for predicting the intention of the driver of the subject vehicle includes providing probabilities of subject vehicle actions including going straight through the intersection, stopping at the intersection, and making a turn at the intersection.

33. The method according to claim 29, wherein the predicted intention of the driver of the target vehicle is determined by using probabilities between states of the target vehicle, and wherein the predicted intention of the subject vehicle is determined by using probabilities between states of the subject vehicle.

34. The method according to claim 33, wherein the state of the target vehicle with the highest probability is selected as the predicted intention of the driver of the target vehicle, and wherein the state of the subject vehicle with the highest probability is selected as the predicted intention of the driver of the subject vehicle.

35. The method according to claim 33, wherein the probabilities between states of the subject vehicle are dynamically updated.

36. A method of operating a collision warning system in a subject vehicle, comprising the steps:

using information received from a subject vehicle to predict the intentions of a driver of the subject vehicle as the subject vehicle approaches an intersection;

using the predicted intentions of the driver of the subject vehicle to provide alerts through the collision warning system,

wherein predicted intentions of the driver of the subject vehicle are compared to the actual actions of the driver of the subject vehicle, and probabilities between states of the subject vehicle used in the algorithm are updated when the predicted intentions of the driver of the subject vehicle and the actual actions of the driver of the subject vehicle are not the same.

37. The method according to claim 36, wherein the information received from the subject vehicle includes the distance of the subject vehicle from the intersection, and the current speed and acceleration of the subject vehicle.

38. The method according to claim 36, wherein the predicted intentions of the driver of the subject vehicle includes probabilities of subject vehicle actions including going straight through the intersection, stopping at the intersection, and making a turn at the intersection.

39. The method according to claim 36, wherein the predicted intentions of the driver of the subject vehicle are determined by using probabilities between states of the subject vehicle.

40. The method according to claim 39, wherein the state of the subject vehicle with the highest probability is selected as the predicted intention of the driver of the subject vehicle.

41. A method for estimating an unsafe condition, comprising the steps:

receiving data relating to a target vehicle;

receiving data relating to a subject vehicle;

estimating the point in time that the target vehicle will arrive at an intersection;

estimating the point in time that a subject vehicle will arrive at the intersection;

predicting the intention a driver of the target vehicle;

predicting the intention of a driver of the subject vehicle;

determining if the paths of the subject vehicle and the target vehicle will cross; and

providing an alarm if the target vehicle will arrive at the intersection at substantially the same time as a subject vehicle.

42. The method of claim 41, wherein estimating the point in time that the target vehicle and subject vehicle will arrive at an intersection includes considering the type of intersection.

43. The method of claim 41, wherein estimating the point in time that the target vehicle and subject vehicle will arrive at an intersection includes considering the relative directions of both the subject vehicle and the target vehicle.

44. The method of claim 41, wherein predicting the intention of a driver of the target vehicle further includes determining probabilities that the driver of the target vehicle will make a left turn and right turn, and wherein predicting the intention of a driver of the subject vehicle further includes determining the probabilities that the driver of the subject vehicle will turn left and turn right.

45. The method of claim 41, wherein predicting the intention of a driver of the target vehicle further includes providing and updating probabilities after the target vehicle stops until the target vehicle exits the intersection, and wherein predicting the intention of a driver of the subject vehicle further includes providing and updating probabilities after the subject vehicle stops until the subject vehicle exits the intersection.

46. The method of claim 41, wherein using the predicted intentions of the driver of the target vehicle to provide alerts through the collision warning system includes providing an alert when the target vehicle and the subject vehicle approach the same intersection at substantially the same time.