System and method for avoiding accidents in intersections

• US 6,624,782 B2
• Filed: 02/28/2001
• Issued: 09/23/2003
• Est. Priority Date: 02/28/2000
• Status: Expired due to Fees

• Current Assignee: Calpine Corporation
• Original Assignee: Veridian Engineering Incorporated
• Inventors: Knight, James R., Leney, Thomas F., Jocoy, Edward H., Pirson, Herbert A., Pierowicz, John A.
• Primary Examiner(s): Gregory, Bernarr E.
• Application Number:
  US09/794,166
• Publication Number:
  US 20020036584A1
• Time in Patent Office: 937 Days
• Field of Search: 342/27, 342/28, 342/70, 342/71, 342/72, 342/175, 342/195, 342/357-1-3, 340/431-437, 701/200, 701/201, 701/202, 701/207, 701/208-217, 701/223, 701/300, 701/301, 701/302
• US Class Current: 342/70
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9316 combined with communication equipment with other vehicles or with base stations
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 2013/93273 on the top of the vehicles
• CPC Class Codes: G01S 2013/9329 cooperating with reflectors or transponders
• CPC Class Codes: G08G 1/07 Controlling traffic signals
• CPC Class Codes: G08G 1/164 Centralised systems, e.g. external to vehicles

Abstract

A method for a subject vehicle to avoid collisions is provided. At least one lane feeding into an intersection is scanned. The presence of a threat vehicle in the at least one lane is detected. Whether the subject vehicle and the threat vehicle will occupy the intersection at the same time is predicted. A warning is issued in response to the predicting.

Claims

1. A method for a subject vehicle to avoid collisions, comprising:

separately scanning, in proximity to an intersection, at least two sectors of an area around the intersection;

detecting the presence of a threat vehicle in at least one lane;

predicting whether the subject vehicle and the threat vehicle will occupy the intersection at the same time; and

issuing a warning in response to said predicting.

2. The method of claim 1, said detecting further comprising:

identifying an object picked up by said scanning;

disregarding the object as a threat vehicle if it one of stationary and moving away from the intersection.

3. The method of claim 1, further comprising disabling said issuing when prevailing conditions indicate a low probability of a collision in the intersection, the prevailing conditions including at least one of a direction of travel of the subject vehicle, a direction of travel of the threat vehicle, activation of a particular turn signal in the subject vehicle, velocity of the target vehicle, velocity of the target vehicle, and acceleration of the target vehicle.

4. The method of claim 3, said disabling being responsive to the threat vehicle approaching the intersection from the left of the subject vehicle, and the threat vehicle is decelerating more than a predetermined amount.

5. The method of claim 3, said disabling being responsive to:

the threat vehicle is approaching the intersection from in front of the subject vehicle, and one of;

the subject vehicle has activated its left turn signal and the threat vehicle is decelerating more than a predetermined amount;

the subject vehicle has activated its right turn signal and the threat vehicle is not decelerating by more than a predetermined amount;

the subject vehicle has not activated a turn signal and the threat vehicle is not decelerating by more than a predetermined amount; and

the subject vehicle has activated its right turn signal and there is no left lane extending from the intersection.

6. The method of claim 3, said disabling being responsive to:

the threat vehicle is approaching the intersection from the right of the subject vehicle, and one of;

the subject vehicle has activated its left turn signal and the threat vehicle is decelerating more than a predetermined amount;

the subject vehicle has activated its right turn signal; and

the subject vehicle has not activated a turn signal and the threat vehicle is decelerating by more than a predetermined amount.

7. A method for a subject vehicle to avoid collisions, comprising:

separately scanning left, right, and forward sectors of the subject vehicle, said scanning being responsive to the subject vehicle coming within a predetermined distance of an intersection;

detecting the presence of a threat vehicle in at least one lane feeding the intersection;

predicting whether said subject vehicle and said threat vehicle will occupy the intersection at the same time;

issuing a warning in response to said predicting.

8. The method of claim 7, further comprising:

storing a map database;

receiving coordinate data representing a position of the subject vehicle;

said separate scanning being in response to a position of the subject vehicle, from the coordinate data, being within a predetermined distance from an intersection in the map database.

9. The method of claim 7, further comprising:

storing a map database, the map including the intersection;

disabling said left, right and center and center scanning in response to the map database indicating an absence of any lanes entering said intersection in said left, right and center sectors, respectively.

10. The method of claim 7, said radar separately scanning the left and right sectors, each further comprising:

oscillating a radar antenna by a predetermined angle relative to a control point; and

moving the control point away from the intersection as the subject vehicle approaches the intersection.

11. A method of controlling a radar antenna mounted on a moving vehicle, comprising:

oscillating the radar antenna about a predetermined angle relative to a control point, the control point representing a position in a lane feeding into an intersection; and

moving the control point away from the intersection as the subject vehicle approaches the intersection.

12. The method of claim 11, wherein said oscillating commences in response to the subject vehicle coming within a predetermined distance of the intersection.

13. The method of claim 12, wherein said moving comprises maintaining the control point a substantially consistent distance away from the subject vehicle.

14. The method of claim 11, further comprising:

detecting, in response to radar signals from the radar antenna, the presence of a threat vehicle in at least one lane feeding the intersection;

predicting whether the subject vehicle and the threat vehicle will occupy the intersection at the same time;

issuing a warning in response to said predicting.

15. The method of claim 11, further comprising disabling said issuing when prevailing conditions indicate a low probability of a collision in the intersection, the prevailing conditions including at least one of a direction of travel of the subject vehicle, a direction of travel of the threat vehicle, activation of a particular turn signal in the subject vehicle, and acceleration of the target vehicle.

16. A method for preventing a subject vehicle from accidents in intersections, comprising:

storing a map in a database, the map including at least one intersection with a traffic control device;

receiving coordinate data reflecting a position of the subject vehicle;

determining whether the subject vehicle will enter an intersection of the at least one intersection in violation of an associated traffic control device;

issuing a warning to a driver of the subject vehicle in response to a determination that the subject vehicle will enter an intersection of the at least one intersection in violation of an associated traffic control device;

separately scanning at least two sectors of an area around the intersection;

identifying any threat vehicles in the area;

predicting whether the subject vehicle and the threat vehicle will occupy the intersection at the same time;

issuing a warning to a driver of the subject vehicle in response to a prediction that the subject vehicle and the threat vehicle will occupy the intersection at the same time;

determining whether prevailing conditions indicate a low probability of a collision in the intersection; and

disabling said issuing a warning to a driver of the subject vehicle in response to a prediction when the prevailing conditions indicate a low probability of a collision in the intersection.

17. A collision prevention device mounted on a subject vehicle, comprising:

left, right and center radar antennas;

a controller programmed to oscillate said left and right radar antennas about a predetermined angle relative to left and right control points respectively, the control points representing positions in left and right lanes feeding into an intersection; and

said controller being programmed to move said left and right control points away from the intersection as the subject vehicle approaches the intersection.

18. The collision prevention device of claim 17, further comprising:

a map database including an intersection;

said controller being programmed to disable operation of said left, right, and center radar antennas in response to said map database indicating an absence of lanes leading into said intersection in the areas covered by the left, right and center radar antennas, respectively.

19. The collision prevention device of claim 17, further comprising:

a map database including an intersection;

a tracker capable of distinguishing a threat vehicle from other objects detected by said left, right, and center radar antennas;

at least one of said trackers and said controllers being capable of determining whether said subject vehicle and said threat vehicle will occupy the intersection at the same time;

said controller being programmed to issue a warning signal in response to whether said subject vehicle and said threat vehicle will occupy the intersection at the same time and when the prevailing conditions do not indicate a low probability of a collision in the intersection.

20. The collision prevention device of claim 19, wherein said tracker is capable of excluding as threat vehicles any objects detected by said left, right, and center radar antennas that are stationary and moving away from the intersection.

21. A collision prevention device, comprising:

left, right and center radar antennas;

a map database, a map in the database including an intersection;

a tracker capable of distinguishing a threat vehicle approaching the intersection from other objects detected by said left, right, and center radar antennas;

a controller being capable of determining whether said subject vehicle and said threat vehicle will occupy an intersection at the same time; and

said controller being programmed to issue a warning signal in response to whether said subject vehicle and said threat vehicle will occupy an intersection at the same time and when the prevailing conditions do not indicate a low probability of a collision in the intersection.

22. The device of claim 21, wherein a prevailing condition that indicates a low probability of collision includes the threat vehicle approaching an intersection from the left of the subject vehicle, and the threat vehicle is decelerating more than a predetermined amount.

23. The device of claim 21, wherein a prevailing condition that indicates a low probability of collision includes the threat vehicle approaching an intersection from in front of the subject vehicle, and one of:

the subject vehicle has activated its left turn signal and the threat vehicle is decelerating more than a predetermined amount;

the subject vehicle has activated its right turn signal and the threat vehicle is not decelerating by more than a predetermined amount;

the subject vehicle has not activated a turn signal and the threat vehicle is not decelerating by more than a predetermined amount; and

the subject vehicle has activated its right turn signal and there is no left lane extending from the intersection.

24. The device of claim 21, wherein a prevailing condition that indicates a low probability of collision includes the threat vehicle approaching the intersection from the right of the subject vehicle, and one of:

the subject vehicle has activated its left turn signal and the threat vehicle is decelerating more than a predetermined amount;

the subject vehicle has activated its right turn signal; and

the subject vehicle has not activated a turn signal and the threat vehicle is decelerating by more than a predetermined amount.