COLLISION AVOIDANCE SYSTEM FOR VEHICLE

• US 20160244055A1
• Filed: 05/02/2016
• Published: 08/25/2016
• Est. Priority Date: 04/10/2013
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Wolf, Johannes
• Granted Patent: US 9,545,921 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60R 1/00 Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
• CPC Class Codes: B60R 1/26 to the rear of the vehicle
• CPC Class Codes: B60R 2300/70 characterised by an event-triggered choice to display a specific image among a selection of captured images
• CPC Class Codes: B60R 2300/8026 in addition to a rear-view mirror system
• CPC Class Codes: B60R 2300/806 for aiding parking
• CPC Class Codes: B60T 2201/024 Collision mitigation systems
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60T 8/17 Using electrical or electronic regulation means to control braking detecting or indicating faulty operation B60T8/885
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 10/30 including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2556/65 : Data transmitted between vehicles
• CPC Class Codes: B60W 2710/18 : Braking system
• CPC Class Codes: B60W 2710/20 : Steering systems
• CPC Class Codes: B60W 2710/30 : Auxiliary equipments
• 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 30/085 : Taking automatic action to adjust vehicle attitude in preparation for collision, e.g. braking for nose dropping
• CPC Class Codes: B60W 30/09 : Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/0953 : the prediction being responsive to vehicle dynamic parameters
• CPC Class Codes: B60W 50/14 : Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B62D 15/0265 : Automatic obstacle avoidance by steering
• CPC Class Codes: B62D 6/002 : computing target steering angles for front or rear wheels B62D7/159 takes precedence
• CPC Class Codes: G05D 1/0214 : in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• 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 1/16 : 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 1/166 : for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A collision avoidance system for use in a vehicle includes a forward-viewing camera and a rearward-viewing camera. Responsive to image processing of captured image data, the system detects the presence of vehicles present ahead of the equipped vehicle and in the traffic lane the equipped vehicle is driving in and in an adjacent traffic lane that is adjacent to the traffic lane the equipped vehicle is driving in. Responsive to image processing of image data captured by the rearward-viewing camera, the system determines imminence of a rear impact with the equipped vehicle by another vehicle and the system controls a steering system to move the equipped vehicle to the adjacent traffic lane provided the portion of that adjacent lane the equipped vehicle is to move to is unoccupied by a vehicle ahead of, adjacent to or behind the equipped vehicle.

Claims

1. A collision avoidance system suitable for use in a vehicle, said collision avoidance system comprising:

a forward-viewing camera disposed at a vehicle equipped with said collision avoidance system, said forward-viewing camera having a field of view forward of the equipped vehicle;

the field of view of said forward-viewing camera encompassing (i) a traffic lane the equipped vehicle is driving in and (ii) an adjacent traffic lane that is adjacent to the traffic lane the equipped vehicle is driving in;

an image processor operable to process image data captured by said forward-viewing camera;

wherein, responsive to image processing by said image processor of image data captured by said forward-viewing camera, said collision avoidance system detects the presence of vehicles present ahead of the equipped vehicle;

wherein, responsive to image processing by said image processor of image data captured by said forward-viewing camera, said collision avoidance system is operable to determine a detected vehicle to be present in the traffic lane the equipped vehicle is driving in;

wherein, responsive to image processing by said image processor of image data captured by said forward-viewing camera, said collision avoidance system is operable to determine a detected vehicle to be present in the adjacent traffic lane that is adjacent to the traffic lane the equipped vehicle is driving in;

a rearward-viewing camera disposed at the equipped vehicle, said rearward-viewing camera having a field of view rearward of the equipped vehicle;

the field of view of said rearward-viewing camera encompassing (i) the traffic lane the equipped vehicle is driving in and (ii) the adjacent traffic lane that is adjacent to the traffic lane the equipped vehicle is driving in;

an image processor operable to process image data captured by said rearward-viewing camera;

wherein, responsive to image processing by said image processor of image data captured by said rearward-viewing camera, said collision avoidance system detects the presence of vehicles present rearward of the equipped vehicle;

wherein, responsive to image processing by said image processor of image data captured by said rearward-viewing camera, said collision avoidance system is operable to determine a detected vehicle to be present in the traffic lane the equipped vehicle is driving in;

wherein, responsive to image processing by said image processor of image data captured by said rearward-viewing camera, said collision avoidance system is operable to determine a detected vehicle to be present in the adjacent traffic lane that is adjacent to the traffic lane the equipped vehicle is driving in;

wherein, responsive to image processing by said image processor of image data captured by said rearward-viewing camera, said collision avoidance system determines imminence of a rear impact with the equipped vehicle by a detected vehicle present in the traffic lane the equipped vehicle is driving in; and

wherein, responsive to the determined imminence of a rear impact to the equipped vehicle by the detected vehicle present in the traffic lane the equipped vehicle is driving in, said collision avoidance system controls a steering system of the equipped vehicle to move the equipped vehicle to the adjacent traffic lane that is adjacent to the traffic lane the equipped vehicle is driving in provided the portion of that adjacent lane the equipped vehicle is to move to is unoccupied by a vehicle ahead of, adjacent to or behind the equipped vehicle.

2. The collision avoidance system of claim 1, wherein, responsive to image processing of captured image data, said collision avoidance system determines (i) a difference between the speed of an approaching vehicle and the speed of the equipped vehicle and (ii) a distance between the approaching vehicle and the equipped vehicle, and wherein a difference between the speed of the approaching vehicle and the speed of the equipped vehicle being such that a collision is imminent, said collision avoidance system prepares the equipped vehicle for impact.

3. The collision avoidance system of claim 2, wherein said collision avoidance system prepares the equipped vehicle for impact by pretensioning a seat belt of the equipped vehicle.

4. The collision avoidance system of claim 2, wherein said collision avoidance system prepares the equipped vehicle for impact by adjusting a seat of the equipped vehicle.

5. The collision avoidance system of claim 2, wherein said collision avoidance system prepares the equipped vehicle for impact by adjusting a seat of the equipped vehicle to an upright position.

6. The collision avoidance system of claim 2, wherein said collision avoidance system prepares the equipped vehicle for impact by adjusting a headrest of the equipped vehicle.

7. The collision avoidance system of claim 2, wherein said collision avoidance system prepares the equipped vehicle for impact by deploying a roll over bar of the equipped vehicle.

8. The collision avoidance system of claim 2, wherein said collision avoidance system is operable to wirelessly communicate to the approaching vehicle a request for the approaching vehicle to brake.

9. The collision avoidance system of claim 2, wherein an alert is provided to the driver of the equipped vehicle.

10. The collision avoidance system of claim 2, wherein a braking system of the equipped vehicle is controlled.

11. The collision avoidance system of claim 2, wherein said collision avoidance system provides a variable visible alert to the driver of the equipped vehicle.

12. The collision avoidance system of claim 2, wherein said collision avoidance system transmits an alert to a driver of the approaching vehicle via a telematics system.

13. A collision avoidance system suitable for use in a vehicle, said collision avoidance system comprising:

a forward-viewing camera disposed at a vehicle equipped with said collision avoidance system, said forward-viewing camera having a field of view forward of the equipped vehicle;

the field of view of said forward-viewing camera encompassing (i) a traffic lane the equipped vehicle is driving in and (ii) an adjacent traffic lane that is adjacent to the traffic lane the equipped vehicle is driving in;

an image processor operable to process image data captured by said forward-viewing camera;

wherein, responsive to image processing by said image processor of image data captured by said forward-viewing camera, said collision avoidance system detects the presence of vehicles present ahead of the equipped vehicle;

wherein, responsive to image processing by said image processor of image data captured by said forward-viewing camera, said collision avoidance system is operable to determine a detected vehicle to be present in the traffic lane the equipped vehicle is driving in;

wherein, responsive to image processing by said image processor of image data captured by said forward-viewing camera, said collision avoidance system is operable to determine a detected vehicle to be present in the adjacent traffic lane that is adjacent to the traffic lane the equipped vehicle is driving in;

a rearward-viewing camera disposed at the equipped vehicle, said rearward-viewing camera having a field of view rearward of the equipped vehicle;

the field of view of said rearward-viewing camera encompassing (i) the traffic lane the equipped vehicle is driving in and (ii) the adjacent traffic lane that is adjacent to the traffic lane the equipped vehicle is driving in;

an image processor operable to process image data captured by said rearward-viewing camera;

wherein, responsive to image processing by said image processor of image data captured by said rearward-viewing camera, said collision avoidance system detects the presence of vehicles present rearward of the equipped vehicle;

wherein, responsive to image processing by said image processor of image data captured by said rearward-viewing camera, said collision avoidance system is operable to determine a detected vehicle to be present in the traffic lane the equipped vehicle is driving in;

wherein, responsive to image processing by said image processor of image data captured by said rearward-viewing camera, said collision avoidance system is operable to determine a detected vehicle to be present in the adjacent traffic lane that is adjacent to the traffic lane the equipped vehicle is driving in;

wherein, responsive to image processing by said image processor of image data captured by said rearward-viewing camera, said collision avoidance system determines imminence of a rear impact with the equipped vehicle by a detected vehicle present in the traffic lane the equipped vehicle is driving in; and

wherein, responsive to the determined imminence of a rear impact to the equipped vehicle by the detected vehicle present in the traffic lane the equipped vehicle is driving in, said collision avoidance system determines an evasive path and controls a steering system of the equipped vehicle to move the equipped vehicle along the evasive path into the adjacent traffic lane that is adjacent to the traffic lane the equipped vehicle is driving in provided the portion of that adjacent lane the equipped vehicle is to move to is unoccupied by a vehicle ahead of, adjacent to or behind the equipped vehicle.

14. The collision avoidance system of claim 13, wherein said forward-viewing camera is a component of an adaptive cruise control system of the equipped vehicle.

15. The collision avoidance system of claim 14, wherein a plurality of other sensors is disposed at the equipped vehicle so as to sense at least forwardly and sidewardly of the equipped vehicle, said plurality of other sensors capturing sensor data.

16. The collision avoidance system of claim 15, wherein said plurality of other sensors comprises at least one radar sensor.

17. The collision avoidance system of claim 15, wherein said plurality of other sensors comprises at least one lidar sensor.

18. A collision avoidance system suitable for use in a vehicle, said collision avoidance system comprising:

a forward-viewing camera disposed at a vehicle equipped with said collision avoidance system, said forward-viewing camera having a field of view forward of the equipped vehicle;

the field of view of said forward-viewing camera encompassing (i) a traffic lane the equipped vehicle is driving in and (ii) an adjacent traffic lane that is adjacent to the traffic lane the equipped vehicle is driving in;

an image processor operable to process image data captured by said forward-viewing camera;

wherein, responsive to image processing by said image processor of image data captured by said forward-viewing camera, said collision avoidance system detects the presence of vehicles present ahead of the equipped vehicle;

wherein, responsive to image processing by said image processor of image data captured by said forward-viewing camera, said collision avoidance system is operable to determine a detected vehicle to be present in the traffic lane the equipped vehicle is driving in;

wherein, responsive to image processing by said image processor of image data captured by said forward-viewing camera, said collision avoidance system is operable to determine a detected vehicle to be present in the adjacent traffic lane that is adjacent to the traffic lane the equipped vehicle is driving in;

a rearward-viewing camera disposed at the equipped vehicle, said rearward-viewing camera having a field of view rearward of the equipped vehicle;

the field of view of said rearward-viewing camera encompassing (i) the traffic lane the equipped vehicle is driving in and (ii) the adjacent traffic lane that is adjacent to the traffic lane the equipped vehicle is driving in;

an image processor operable to process image data captured by said rearward-viewing camera;

wherein, responsive to image processing by said image processor of image data captured by said rearward-viewing camera, said collision avoidance system detects the presence of vehicles present rearward of the equipped vehicle;

wherein, responsive to image processing by said image processor of image data captured by said rearward-viewing camera, said collision avoidance system is operable to determine a detected vehicle to be present in the traffic lane the equipped vehicle is driving in;

wherein, responsive to image processing by said image processor of image data captured by said rearward-viewing camera, said collision avoidance system is operable to determine a detected vehicle to be present in the adjacent traffic lane that is adjacent to the traffic lane the equipped vehicle is driving in;

wherein, responsive to image processing by said image processor of image data captured by said rearward-viewing camera, said collision avoidance system determines imminence of a rear impact with the equipped vehicle by a detected vehicle present in the traffic lane the equipped vehicle is driving in;

wherein, responsive to the determined imminence of a rear impact to the equipped vehicle by the detected vehicle present in the traffic lane the equipped vehicle is driving in, said collision avoidance system controls a steering system of the equipped vehicle to move the equipped vehicle to the adjacent traffic lane that is adjacent to the traffic lane the equipped vehicle is driving in provided the portion of that adjacent lane the equipped vehicle is to move to is unoccupied by a vehicle ahead of, adjacent to or behind the equipped vehicle; and

wherein the equipped vehicle and the detected vehicle present in the traffic lane the equipped vehicle is driving in communicate with each other via a telematics system.

19. The collision avoidance system of claim 18, wherein the equipped vehicle and the detected vehicle present in the traffic lane the equipped vehicle is driving in exchange vehicle speed and direction data.

20. The collision avoidance system of claim 19, wherein the equipped vehicle and the detected vehicle present in the traffic lane the equipped vehicle is driving in determine and agree on collision avoidance paths for both vehicles.