VEHICLE COLLISION AVOIDANCE SYSTEM WITH ENHANCED PEDESTRIAN AVOIDANCE
First Claim
1. A collision avoidance system of a vehicle, said collision avoidance system comprising:
- a sensor configured to be disposed at a vehicle for sensing exterior and forwardly of the vehicle;
a processor operable to process sensor data captured by said sensor to determine the presence of a pedestrian ahead of the vehicle and at or moving towards a path of travel of the vehicle, wherein said processor determines a distance to the determined pedestrian and a moving speed of the determined pedestrian;
wherein said processor determines a time to collision based on a determined distance to the pedestrian and determined speed of the pedestrian and speed of the vehicle;
wherein said collision avoidance system is operable to generate an alert to the driver of the vehicle at a threshold time before the determined time to collision with the pedestrian;
wherein, responsive to a parameter, said collision avoidance system adjusts the threshold time to generate the alert at an earlier time; and
wherein said parameter comprises at least one parameter selected from the group consisting of (i) a vehicle parameter pertaining to the current traction of the vehicle, (ii) an environment parameter pertaining to the environment in which the vehicle is traveling, (iii) a location parameter pertaining to the geographical current location of the vehicle, (iv) a location and time parameter pertaining to the current geographical location of the vehicle and a particular event time associated with that location and (v) a driver attentiveness parameter pertaining to a determined attentiveness of the driver of the vehicle.
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Abstract
A collision avoidance system of a vehicle includes a sensor configured to be disposed at a vehicle for sensing exterior and forwardly of the vehicle. A processor is operable to process sensor data captured by the sensor to determine the presence of a pedestrian ahead of the vehicle and at or moving towards a path of travel of the vehicle. The processor determines a time to collision based on a determined distance to the pedestrian and determined speed of the pedestrian and speed of the vehicle. The collision avoidance system is operable to generate an alert to the driver of the vehicle at a threshold time before the determined collision with the pedestrian. Responsive to a parameter, the collision avoidance system adjusts the threshold time to generate the alert at an earlier time.
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Citations
20 Claims
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1. A collision avoidance system of a vehicle, said collision avoidance system comprising:
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a sensor configured to be disposed at a vehicle for sensing exterior and forwardly of the vehicle; a processor operable to process sensor data captured by said sensor to determine the presence of a pedestrian ahead of the vehicle and at or moving towards a path of travel of the vehicle, wherein said processor determines a distance to the determined pedestrian and a moving speed of the determined pedestrian; wherein said processor determines a time to collision based on a determined distance to the pedestrian and determined speed of the pedestrian and speed of the vehicle; wherein said collision avoidance system is operable to generate an alert to the driver of the vehicle at a threshold time before the determined time to collision with the pedestrian; wherein, responsive to a parameter, said collision avoidance system adjusts the threshold time to generate the alert at an earlier time; and wherein said parameter comprises at least one parameter selected from the group consisting of (i) a vehicle parameter pertaining to the current traction of the vehicle, (ii) an environment parameter pertaining to the environment in which the vehicle is traveling, (iii) a location parameter pertaining to the geographical current location of the vehicle, (iv) a location and time parameter pertaining to the current geographical location of the vehicle and a particular event time associated with that location and (v) a driver attentiveness parameter pertaining to a determined attentiveness of the driver of the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A collision avoidance system of a vehicle, said collision avoidance system comprising:
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a camera configured to be disposed at a vehicle so as to have a field of view exterior and forwardly of the vehicle, said camera capturing image data; wherein said camera comprises a pixelated imaging array having a plurality of photosensing elements; an image processor operable to process image data captured by said camera to determine the presence of a pedestrian ahead of the vehicle and at or moving towards a path of travel of the vehicle, wherein said image processor determines a distance to the determined pedestrian and a moving speed of the determined pedestrian; wherein said image processor determines a time to collision based on a determined distance to the pedestrian and determined speed of the pedestrian and speed of the vehicle; wherein said collision avoidance system is operable to generate an alert to the driver of the vehicle at a threshold time before the determined collision with the pedestrian; wherein, responsive to a parameter, said collision avoidance system adjusts the threshold time to generate the alert at an earlier time; wherein said parameter comprises at least one parameter selected from the group consisting of (i) a vehicle parameter pertaining to the current traction of the vehicle, (ii) an environment parameter pertaining to the environment in which the vehicle is traveling, (iii) a location parameter pertaining to the geographical current location of the vehicle, (iv) a location and time parameter pertaining to the current geographical location of the vehicle and a particular event time associated with that location and (v) a driver attentiveness parameter pertaining to a determined attentiveness of the driver of the vehicle; and wherein said collision avoidance system is operable to apply the brakes of the vehicle to reduce the vehicle speed responsive to a determination that the pedestrian will be exiting the path of travel of the vehicle towards the end of the determined time to collision. - View Dependent Claims (18)
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19. A collision avoidance system of a vehicle, said collision avoidance system comprising:
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a camera configured to be disposed at a vehicle so as to have a field of view exterior and forwardly of the vehicle, said camera capturing image data; wherein said camera comprises a pixelated imaging array having a plurality of photosensing elements; an image processor operable to process image data captured by said camera to determine the presence of a pedestrian ahead of the vehicle and at or moving towards a path of travel of the vehicle, wherein said image processor determines a distance to the determined pedestrian and a moving speed of the determined pedestrian; wherein said image processor determines a time to collision based on a determined distance to the pedestrian and determined speed of the pedestrian and speed of the vehicle; wherein said collision avoidance system is operable to generate an alert to the driver of the vehicle at a threshold time before the determined collision with the pedestrian; wherein, responsive to a parameter, said collision avoidance system adjusts the threshold time to generate the alert at an earlier time; wherein said parameter comprises at least one parameter selected from the group consisting of (i) a vehicle parameter pertaining to the current traction of the vehicle, (ii) an environment parameter pertaining to the environment in which the vehicle is traveling, (iii) a location parameter pertaining to the geographical current location of the vehicle, (iv) a location and time parameter pertaining to the current geographical location of the vehicle and a particular event time associated with that location and (v) a driver attentiveness parameter pertaining to a determined attentiveness of the driver of the vehicle; wherein said collision avoidance system is operable to generate a pedestrian alert to the pedestrian responsive to a determination that the pedestrian will be entering the path of travel of the vehicle towards the end of the determined time to collision; and wherein said collision avoidance system, responsive to a determination that the determined moving speed of the pedestrian does not change following the pedestrian alert, is operable to apply the brakes of the vehicle to stop the vehicle. - View Dependent Claims (20)
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Specification