Threat level identification and quantifying system

• US 7,034,668 B2
• Filed: 10/27/2003
• Issued: 04/25/2006
• Est. Priority Date: 10/27/2003
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Tellis, Levasseur, Ekmark, Jonas, Engelman, Gerald H., Joh, Gyu Myeong, Williams, Robert E., Tarabishy, M. Nabeel, Trombley, Roger A. Jr.
• Primary Examiner(s): Hofsass, Jeffery
• Assistant Examiner(s): MEHMOOD, JENNIFER
• Application Number:
  US10/694,454
• Publication Number:
  US 20050090955A1
• Time in Patent Office: 911 Days
• Field of Search: 340435-437, 701/301, 701/47, 701/96, 180275-280, 342/71
• US Class Current: 340/435
• CPC Class Codes: B60R 2021/01311 monitoring the braking system, e.g. ABS
• CPC Class Codes: B60R 2021/01313 monitoring the vehicle steering system or the dynamic control system
• CPC Class Codes: B60R 21/013 including means for detecting collisions, impending collisions or roll-over
• CPC Class Codes: B60R 21/0132 responsive to vehicle motion parameters , e.g. to vehicle longitudinal or transversal deceleration or speed value
• CPC Class Codes: B60R 21/0134 responsive to imminent contact with an obstacle , e.g. using radar systems
• CPC Class Codes: B60T 2201/02 Active or adaptive cruise control system; Distance control
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 2260/02 Active Steering, Steer-by-Wire
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence
• 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

Abstract

Methods of performing threat assessment of objects for a vehicle include detecting an object. Kinematics of the vehicle and of the object are determined. A brake threat number and a steering threat number are determined in response to the kinematics of the vehicle and the object. The threat posed by the object is determined in response to the brake threat number and the steering threat number.

Claims

1. A method of performing threat assessment within a vehicle comprising:

detecting at least one object;

determining kinematics of the vehicle;

determining kinematics of said at least one object;

determining a brake threat number, comprising determining an approximate deceleration at zero range value, in response to said vehicle kinematics and said kinematics of said at least one object; and

determining a threat of said at least one object in response to said brake threat number.

2. A method as in claim 1 further comprising:

determining a steering treat number in response to said vehicle kinematics and said kinematics of said at least one object; and

determining a threat of said at least one object in response to said steering threat number.

3. A method as in claim 1 wherein determining kinematics of said vehicle and determining kinematics of said at least one object comprise:

determining a path of the vehicle; and

determining a path of said at least one object.

4. A method as in claim 1 wherein determining kinematics of said vehicle and determining kinematics of said at least one object comprise determining relative position, velocity, and acceleration of said at least one object relative to the vehicle.

5. A method as in claim 1 wherein determining kinematics of said vehicle and determining kinematics of said at least one object comprise determining yaw rate of the vehicle.

6. A method as in claim 1 wherein determining said brake threat number comprises:

determining a maximum vehicle deceleration value.

7. A method as in claim 6 wherein determining said brake threat nunber further comprises dividing said deceleration at zero range value by said maximum vehicle deceleration value.

8. A method as in claim 1 wherein determining said brake threat number comprises determining an average braking value.

9. A method of performing threat assessment within a vehicle comprising:

detecting at least one object;

determining kinematics of the vehicle;

determining kinematics of said at least one object;

determining a steering threat number in response to said vehicle kinematics and said kinematics of said at least one object; and

determining a threat of said at least one object in response to said steering threat number.

10. A method as in claim 9 further comprising:

determining a brake threat number in response to said vehicle kinematics and said kinematics of said at least one object; and

determining a threat of said at least one object in response to said brake threat number.

11. A method as in claim 9 wherein determining said steering threat number comprises:

determining a lateral acceleration at zero range value; and

determining a maximum lateral acceleration value.

12. A method as in claim 11 wherein determining said steering threat number further comprises dividing said lateral acceleration at zero range value by said maximum lateral acceleration value.

13. A method as in claim 9 wherein determining said steering threat number comprises determining an average lateral acceleration value.

14. A threat assessment system for a vehicle comprising:

at least one object detection sensor generating at least one object detection signal; and

a controller coupled to said at least one object detection sensor and determining a braking threat number and a steering threat number in response to said at least one object detection signal, said controller determining a threat of said at least one object in response to said braking threat number and said steering threat number.

15. A system as in claim 14 wherein said controller performs at least one countermeasure in response to said braking threat number.

16. A system as in claim 14 wherein said controller reduces traveling speed of the vehicle when said brake threat number is above a predetermined value.

17. A system as in claim 14 wherein said controller reduces traveling speed of the vehicle when said steering threat number is above a predetermined value.

18. A system as in claim 14 wherein said controller adjusts direction of travel of the vehicle when said steering threat number is above a predetermined value.

19. A system as in claim 14 wherein said controller adjusts direction of travel of the vehicle when a brake threat number is above a predetermined value.

20. A system as in claim 14 wherein said controller, in determining a braking threat number and a steering threat number, determines a deceleration at a zero range profile, a maximum vehicle deceleration profile, a lateral acceleration at zero range profile, and a maximum lateral acceleration profile.