Vehicle operator alert process

• US 6,150,932 A
• Filed: 10/04/1999
• Issued: 11/21/2000
• Est. Priority Date: 10/04/1999
• Status: Expired due to Fees

• Current Assignee: Delphi Technologies, Inc. (BorgWarner Incorporated), GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: Delphi Technologies, Inc. (BorgWarner Incorporated), General Motors Corporation (General Motors Company)
• Inventors: Kenue, Surender Kumar
• Primary Examiner(s): POPE, DARYL C
• Application Number:
  US09/411,220
• Time in Patent Office: 414 Days
• Field of Search: 340/901, 340/903, 340/904, 340/435, 340/436, 701/300
• US Class Current: 340/435
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60K 31/18 including a device to audibly, visibly, or otherwise signal the existence of unusual or unintended speed to the driver of the vehicle devices primarily intended for indicating speed to other traffic B60Q1/54
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2520/105 Longitudinal acceleration
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9325 for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 2013/93272 in the back of the vehicles
• CPC Class Codes: G01S 2013/93275 in the bumper area

Abstract

A method is disclosed for analyzing range and range rate data obtained by a vehicle obstacle detection system to determine whether the dynamic situation justifies alerting the vehicle operator of reducing the speed of the vehicle. Assumed values of vehicle and obstacle deceleration are used with known and assumed values of their velocities to calculate limiting warning distances that in turn are used to calculate an estimated warning distance. The estimated distance is compared with the range value as a basis of determining whether an alert is made.

Claims

1. A method for providing an automotive vehicle alert for alerting of a condition of closing upon an obstacle preceding the vehicle, comprising the steps of:

detecting an obstacle proceeding the vehicle;

determining the range to the obstacle;

determining the velocity of said vehicle and the velocity of said obstacle;

determining the time rate of change in the range and when said rate of change is, in case (a), within a preset tolerance limit of zero or, in case (b), is negative and not within a preset tolerance limit of zero;

comparing the determined value of range with a calculated warning distance, said calculated warning distance, in case (a), including assumed values of negative acceleration for said vehicle and obstacle;

or, in case (b), including

calculating a first limiting warning distance between said vehicle and obstacle assuming that the velocity of said obstacle is zero and assuming a constant negative acceleration value for said vehicle, calculating a second limiting warning distance between said vehicle and obstacle assuming that the velocity of said obstacle is equal to said velocity of said vehicle and assuming values of negative acceleration for said vehicle and obstacle, calculating a third warning distance between said vehicle and obstacle using assumed values of negative acceleration for said vehicle and obstacle and the values of said first and second limiting warning distances such that said third warning distance is intermediate to the values of said limiting distances, and comparing said third warning distance with said range; and

indicating the alert when the determined range is less than said warning distance for case (a) or case (b), as appropriate.

2. A method as recited in claim 1 comprising calculating said first, second and third warning distances using a first assumed negative acceleration value for decreasing the velocity of said vehicle to zero and a second assumed negative acceleration value for reducing a velocity of said obstacle to zero, and using said first and second warning distances to establish parameters to be used with said negative values of acceleration in calculating said third distance.

3. A method as recited in claim 2 in which the absolute value of said vehicle acceleration is greater than the absolute value of said obstacle acceleration.

4. A method as recited in claim 2 comprising using said first and second warning distances to establish a first dimensionless parameter, p, and a second parameter, q, having the dimension of time, where p has bounds of 0, 2 and is determined by the equation:

##EQU10## except when Ao is substantially equal to Ah and then p=2, where Vh is the velocity of said vehicle, Ah is the assumed acceleration of said vehicle, Ao is the assumed acceleration of said obstacle, D1 is said first limiting warning distance and D2 is said second limiting warning distance, and q is determined by the equation;

##EQU11## where Tr is response time.

5. A method for providing an automotive vehicle alert for alerting of a condition of closing upon an obstacle preceding the vehicle, comprising the steps of:

detecting an obstacle proceeding the vehicle;

determining the range to the obstacle;

determining the velocity of said vehicle and the velocity of said obstacle;

determining the time rate of change in the range;

storing a schedule of warning profiles including calculated warning distances as a function of time rate of change in range and depending upon whether said change in range is, in case (a), within a preset tolerance limit of zero, or, in case (b), is negative and not within a preset tolerance limit of zero, said warning distances are characterized as having been pre-calculated using, in case (a), said velocities and assumed values of negative acceleration for said vehicle and obstacle and, in case (b), pre-calculated comprising calculating a first limiting warning distance between said vehicle and obstacle assuming that the velocity of said obstacle is zero and assuming a constant negative acceleration value for said vehicle, calculating a second limiting warning distance between said vehicle and obstacle assuming that the velocity of said obstacle is equal to said velocity of said vehicle and assuming values of negative acceleration for said vehicle and obstacle, calculating a third warning distance between said vehicle and obstacle using assumed values of negative acceleration for said vehicle and obstacle and the values of said first and second limiting warning distances such that said third warning distance is intermediate to the values of said limiting distances, and wherein each of the schedule of warning profiles includes a range threshold and a time rate of change in range threshold;

selecting, from the stored schedule, an active schedule as the one of the schedule of warning distances corresponding to the determined time rate of change in the range; and

indicating the alert when the determined range is less than the range threshold from the active schedule and when the determined time rate of change in range exceeds the time rate of change in range threshold from the active schedule.

6. A method as recited in claim 5 comprising calculating said first, second and third warning distances using a first assumed negative acceleration value for decreasing the velocity of said vehicle to zero and a second assumed negative acceleration value for reducing a velocity of said obstacle to zero, and using said first and second warning distances to establish parameters to be used with said negative values of acceleration in calculating said third distance.

7. A method as recited in claim 6 in which the absolute value of said vehicle acceleration is greater than the absolute value of said obstacle acceleration.

8. A method as recited in claim 6 comprising using said first and second warning distances to establish a first dimensionless parameter, p, and a second parameter, q, having the dimension of time, where p has bounds of 0, 2 and is determined by the equation:

##EQU12## except when Ao is substantially equal to Ah and then p=2, where Vh is the velocity of said vehicle, Ah is the assumed acceleration of said vehicle, Ao is the assumed acceleration of said obstacle, D1 is said first limiting warning distance and D2 is said second limiting warning distance, and q is determined by the equation;

##EQU13## where Tr is response time.