Path estimation and confidence level determination system for a vehicle

• US 7,447,592 B2
• Filed: 10/18/2004
• Issued: 11/04/2008
• Est. Priority Date: 10/18/2004
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Yopp, Wilford Trent, Li, Yusheng, King, Anthony G., Mentell, Corinne D.
• Primary Examiner(s): ARTHUR JEANGLAUDE, GERTRUDE
• Application Number:
  US10/711,985
• Publication Number:
  US 20060085131A1
• Time in Patent Office: 1,478 Days
• Field of Search: 701/29, 701/33, 701/34, 701/36, 701/301, 340/425.5, 340/438, 340/439, 340/903
• US Class Current: 701/301
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• 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 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A path prediction system (10) for a vehicle (12) includes vehicle state sensors (18) that generate vehicle state signals. A tracking sensor (20) generates a path characteristic signal. A path prediction module (16) determines predicted path estimations in response to data received from each of the vehicle state sensors (18) and the tracking sensor (20). The path prediction module (16) determines a resultant predicted future path and a path confidence level in response to the predicted path estimations. A controller (14) performs a countermeasure (26) in response to the resultant predicted future path and the path confidence level.

Claims

1. A path prediction system for a vehicle, said path prediction system comprising:

a plurality of vehicle state sensors for generating vehicle state signals;

at least one path-tracking sensor for generating a path characteristic signal;

a path prediction module and a path-tracking module for determining a plurality of predicted path estimations of a future path of said vehicle in response to data received from each of said plurality of vehicle state sensors and said at least one path-tracking sensor, said path prediction module being operable to determine a resultant predicted future path and a path confidence level in response to said plurality of predicted path estimations; and

a controller for performing a countermeasure in response to said resultant predicted future path and said path confidence level.

2. A path prediction system as in claim 1, wherein said path confidence level corresponds with the accuracy of said resultant predicted future path.

3. A path prediction system as in claim 1, wherein said plurality of vehicle state sensors includes a vehicle speed sensor, an inertial rate sensor, a yaw rate sensor, a steering wheel angle sensor, or a combination thereof.

4. A path prediction system as in claim 1, wherein said at least one path-tracking sensor includes a sensor that is operable to both detect and track a road, a road lane, a road marking, or a combination thereof.

5. A path prediction system as in claim 1, wherein said at least one path-tracking sensor includes a vision sensor, a camera, a global positioning system sensor, a radar sensor, a lidar sensor, an ultrasonic sensor, an infrared sensor, a wave-ranging sensor device, or a combination thereof.

6. A path prediction system as in claim 1, wherein said path prediction system further comprises an adaptive task scheduler for determining processing tasks to perform, and said vehicle state sensors are operable to generate said vehicle state signals in response to said processing tasks.

7. A path prediction system as in claim 1, wherein said path prediction system further comprises an adaptive task scheduler for determining processing tasks to perform, and said path prediction module is operable to determine said resultant predicted future path and said path confidence level in response to said processing tasks.

8. A path prediction system as in claim 1, wherein said path prediction module is operable to assign a high confidence level to said resultant predicted future path when a majority of said predicted path estimations are in agreement.

9. A path prediction system as in claim 1, wherein said path prediction module is operable to select said resultant predicted future path from said plurality of predicted path estimations and assign a low level of confidence to the selection.

10. A path prediction system as in claim 1, wherein said path prediction module and said path-tracking module, for determining said plurality of predicted path estimations, are operable to respectively determine a first predicted path in response to data received from one of said vehicle state sensors and determine a second predicted path in response to data received from at least one said path-tracking sensor.

11. A path prediction system as in claim 10, wherein said path prediction module is operable to determine said resultant predicted future path and said path confidence level in response to said first predicted path and said second predicted path.

12. A path prediction system as in claim 10, wherein said path prediction module, for determining said plurality of predicted path estimations, is operable to determine a third predicted path in response to data received from a another one of said vehicle state sensors.

13. A path prediction system as in claim 12, wherein said path prediction module is operable to determine said resultant predicted future path and said path confidence level in response to said first predicted path and said third predicted path.

14. A path prediction system as in claim 1, wherein said path prediction module, for determining said plurality of predicted path estimations, is operable to determine a first predicted path in response to data received from one of said vehicle state sensors and also determine a second predicted path in response to data received from another one of said vehicle state sensors.

15. A path prediction system as in claim 1, wherein said path prediction module is operable to determine a substantially instantaneous position of said vehicle in response to said vehicle state signals and also determine both said resultant predicted future path and said path confidence level in response to said instantaneous position.

16. A method of performing a countermeasure onboard a vehicle, said method comprising the steps of:

(a) operating vehicle state sensors to generate vehicle state signals;

(b) operating a path-tracking sensor to generate a path characteristic signal;

(c) operating a path prediction module and a path-tracking module to determine a plurality of predicted path estimations of a future path of said vehicle in response to data received from each of said vehicle state sensors and said path-tracking sensor;

(d) operating said path prediction module to determine a resultant predicted future path and a path confidence level in response to said plurality of predicted path estimations and

(e) operating a controller to perform a countermeasure in response to said resultant predicted future path and said path confidence level.

17. A method as in claim 16, wherein step (c) is at least partially accomplished by operating said path prediction module and said path-tracking module to respectively determine a first predicted path in response to data received from one of said vehicle state sensors and determine a second predicted path in response to data received from said path-tracking sensor.

18. A method as in claim 16, wherein step (c) is at least partially accomplished by operating said path prediction module to determine a first predicted path in response to data received from one of said vehicle state sensors and also determine a second predicted path in response to data received from another one of said vehicle state sensors.

19. A path prediction system for a vehicle, said path prediction system comprising:

a plurality of vehicle state sensors for generating vehicle state signals;

at least one path-tracking sensor for generating a path characteristic signal;

a path prediction module and a path-tracking module for determining a plurality of predicted path estimations of a future path of said vehicle in response to data received from each of said plurality of vehicle state sensors and said at least one path-tracking sensor, said path prediction module being operable to compare said plurality of predicted path estimations and also determine a resultant predicted future path and a path confidence level in response to the comparison; and

a controller for performing a countermeasure in response to said resultant predicted future path and said path confidence level.

20. A path prediction system as in claim 19, wherein said path prediction module, for comparing said plurality of predicted path estimations, is operable to determine an average, a median, an approximate center point, a mean, an extrapolation, a functional result, or a combination thereof of said plurality of predicted path estimations.