Vehicle navigation with integrated curve warning

• US 7,509,214 B2
• Filed: 11/18/2005
• Issued: 03/24/2009
• Est. Priority Date: 11/19/2004
• Status: Active Grant

• Current Assignee: Harman Becker Automotive Systems GmbH (Samsung Electronics Co. Ltd.)
• Original Assignee: Harman Becker Automotive Systems GmbH (Samsung Electronics Co. Ltd.)
• Inventors: Nagel, Philipp Harald
• Primary Examiner(s): Beaulieu; Yonel
• Application Number:
  US11/283,341
• Publication Number:
  US 20060287817A1
• Time in Patent Office: 1,222 Days
• Field of Search: 701/200, 701207-209, 701213-215, 340/988, 340/995.1, 342/70
• US Class Current: 701/209
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2552/15 Road slope, i.e. the inclination of a road segment in the longitudinal direction
• CPC Class Codes: B60W 2552/20 Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
• CPC Class Codes: B60W 2552/30 Road curve radius
• CPC Class Codes: B60W 2555/20 Ambient conditions, e.g. wind or rain
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 40/02 related to ambient conditions
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: G01C 21/3629 Guidance using speech or audio output, e.g. text-to-speech text to speech systems per se G10L13/00
• CPC Class Codes: G01C 21/3652 Guidance using non-audiovisual output, e.g. tactile, haptic or electric stimuli
• CPC Class Codes: G01C 21/3697 Output of additional, non-guidance related information, e.g. low fuel level G01C21/3679 takes precedence

Abstract

A navigation system evaluates vehicle and environmental parameters to determine if a vehicle can pass through a curved path. The system determines a vehicle position and a vehicle velocity. The system processes position and velocity information to determine if the vehicle can pass through the curved path. If a curved path cannot be traversed, the system issues a warning.

Claims

1. A navigation system for a vehicle, comprising:

a vehicle position sensor;

a vehicle velocity sensor coupled to the vehicle position sensor;

a curve warning device that determines a state parameter and generates a warning for the vehicle to traverse a roadway curvature along a path of the vehicle if the state parameter exceeds a predetermined limit, the warning based on a plurality of clothoid models and data received from the vehicle position sensor and the vehicle velocity sensor,

where the state parameter comprises vehicle data, and

the predetermined limit comprises a predetermined velocity or a predetermined centrifugal acceleration, and corresponds to a value for passage along the entire roadway curvature.

2. The system of claim 1, where the state parameter comprises at least one of a current vehicle velocity, an estimated future vehicle velocity, a current vehicle centrifugal acceleration, or an estimated future vehicle centrifugal acceleration.

3. The system of claim 2, where the warning comprises an output that notifies a driver.

4. A navigation system for a vehicle comprising:

means for determining a vehicle position;

means for determining a vehicle velocity;

a database comprising a plurality of clothoid models of a digital map; and

a curve warning means that determines a first state parameter and generates a warning for the vehicle to traverse a roadway curvature along a path of the vehicle if the state parameter exceeds a predetermined limit, the warning based on the plurality of clothoid models, the vehicle position, and the vehicle velocity,

where the first state parameter comprises vehicle data, and

where the first predetermined limit comprises a predetermined velocity or a predetermined centrifugal acceleration, and corresponds to a value for passage along the entire roadway curvature.

5. The system of claim 4, where the curve warning means determines a second state parameter and generates the warning if the first state parameter and the second state parameter exceed the first predetermined limit and a second predetermined limit, respectively, the warning based on the plurality of clothoid models of a digital map, the vehicle position, and the vehicle velocity, and

where the second state parameter comprises second vehicle data;

and

where the second predetermined limit comprises a predetermined velocity or a predetermined centrifugal acceleration, and corresponds to a value for passage along the entire roadway curvature.

6. The system of claim 5, where the warning comprises an output that notifies a driver.

7. The system of claim 6, where

the first state parameter comprises at least one of the current vehicle velocity, an estimated future vehicle velocity, a current vehicle centrifugal acceleration, or an estimated future vehicle centrifugal acceleration;

and

the second state parameter comprises at least one of the current vehicle velocity, an estimated future vehicle velocity, a current vehicle centrifugal acceleration, or an estimated future vehicle centrifugal acceleration.

8. The system of claim 7, further comprising a yaw rate sensor, where the first state parameter or the second state parameter is based on a turn about a vertical axis, respectively.

9. The system of claim 7, further comprising a means for determining the current vehicle centrifugal acceleration, where the first state parameter and the second state parameter are based on the current vehicle centrifugal acceleration.

10. The system of claim 7, further comprising an inclinometer, where the first state parameter and the second state parameter are based on balanced force components.

11. The system of claim 7, further comprising a paving sensor, where the first state parameter or the second state parameter is based on a frictional coefficient.

12. The system of claim 7, further comprising a tread sensor, where the first state parameter or the second state parameter is based on a road adherence estimation factor.

13. The system of claim 7, further comprising a hygrometer, where the first state parameter and the second state parameter are based on a humidity measurement.

14. The system of claim 7, further comprising an anemometer, where the first state parameter and the second state parameter are based on a wind speed measurement.

15. The system of claim 7, further comprising an electronic stability program, where the first state parameter and the second state parameter are based on a force required to return a vehicle to a previously disturbed condition of equilibrium.

16. The system of claim 7, further comprising means for determining a curve parameter of a curved path approached by a vehicle, based on the plurality of clothoid models.

17. The system of claim 16, where the curve parameter comprises the curvature of a curved path approached by a vehicle.

18. The system of claim 7, further comprising means for automatically adjusting the velocity of a vehicle if the first state parameter or the second state parameter exceed the first predetermined limit or the second predetermined limit, respectively.

19. The system of claim 7, where the curve warning means is configured to adapt to a driver'"'"'s driving preferences.

20. The system of claim 7, where the curve warning means comprises an intelligent data processing device configured to adapt the curve warning means to a driver'"'"'s driving preferences.

21. The system of claim 7, where the curve warning means is configured to provide the warning at different sensitivity levels.

22. A method that provides a warning about a curve through a navigation system of a vehicle, comprising:

determining a vehicle position;

determining a vehicle velocity;

determining a state parameter; and

generating a warning for a vehicle to traverse a roadway curvature along a path of the vehicle if the state parameter exceeds a predetermined limit, the warning based on a plurality of clothoid models of digital maps, a vehicle position, and a vehicle velocity,

where the state parameter comprises vehicle data, and

where the predetermined limit comprises a predetermined velocity or a predetermined centrifugal acceleration, and corresponds to a value for passage along the entire roadway curvature.

23. The method of claim 22, where the state parameter comprises at least one of the current vehicle velocity, an estimated future vehicle velocity, a current vehicle centrifugal acceleration, or an estimated future vehicle centrifugal acceleration.

24. The method of claim 23, further comprising determining at least one of a yaw rate, a centrifugal acceleration, a cross slope, a paving parameter, a tread parameter, or a weather parameter, and where the state parameter is based on at least one of the yaw rate, the centrifugal acceleration, the cross slope, the at least one paving parameter, the at least one tread parameter or the at least one weather parameter.

25. The method of claim 23, further comprising providing an electronic stability program configured to detect a force required to return a vehicle to a previously disturbed condition of equilibrium, and where the state parameter is based on the force required to return a vehicle to a previously disturbed condition of equilibrium.

26. The method of claim 23, further comprising determining a curve parameter of a curve approached by a vehicle, based on a plurality of clothoid models.

27. The method of claim 23, further comprising adjusting a vehicle velocity automatically, if the state parameter exceeds a predetermined limit.

28. The method of claim 23, where the act of generating a warning is adapted to a driver'"'"'s individual driving preferences.

29. The method of claim 23, where the act of generating the warning further comprises generating the warning at different sensitivity levels.

30. A navigation system for a vehicle, comprising:

a vehicle position sensor;

a vehicle velocity sensor coupled to the vehicle position sensor;

a curve warning device that determines a state parameter and generates a warning for a vehicle to traverse a roadway curvature along a path of the vehicle if the state parameter exceeds a predetermined limit, the warning based on a plurality of clothoid models and data received from the vehicle position sensor and the vehicle velocity sensor,

where the state parameter comprises an acceleration of a vehicle, a current velocity of a vehicle, an estimated future velocity of a vehicle, or a current centrifugal acceleration of a vehicle, and

the predetermined limit comprises a velocity threshold or an acceleration threshold, and corresponds to a value for passage along the entire roadway curvature.

31. The system of claim 30, where the state parameter is based on a road condition.

32. The system of claim 31, where the road condition is affected by the weather.