Method for monitoring the environment of an automatic vehicle
First Claim
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1. A detection method for monitoring an environment of a vehicle capable of moving according to a path, wherein said method comprises the steps of:
- calculating, via a data processor, a plurality of critical levels of driving depending on a plurality of sensed signals from a plurality of ultrasonic detection sensors and at least one of a speed of said vehicle, a detected distance to an obstacle taking account of an angle of a steering wheel said vehicle, and a relative velocity between said vehicle and said obstacle;
determining if said obstacle is on the path of said vehicle; and
determining a level of confidence associated with each of said plurality of ultrasonic detection sensors depending on a distance between said vehicle and said obstacle;
said step of determining if said obstacle is on the path of said vehicle further comprising the steps of;
defining static zones of detection and probabilities of detection associated with each of said static zones of detection in response to the at least one level of confidence;
defining dynamic zones of detection;
determining, for each of said dynamic zones of detection, if said obstacle is on the path of said vehicle as a function of said probabilities of detection and taking into account said angle of said steering wheel; and
deducing a critical marker on a basis of at least two of the critical levels of driving and sending a braking signal for braking said vehicle in response to the determination that said obstacle is on the path of said vehicle and said critical marker is higher than a critical threshold; and
wherein said dynamic zones of detection correspond to a collision risk if said vehicle turns right, turns left or keeping straight.
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Abstract
A device, program and method for monitoring the environment of a vehicle capable of moving according to a path. The device, program and method comprises the steps of calculating a plurality of critical levels of driving depending on detection sensors, parameters related to the vehicle and an obstacle being in the environment of the vehicle, determining if an obstacle is on the path of the vehicle and depending on the calculated critical levels of driving and determination of an obstacle on the path of the vehicle, making a decision concerning the braking of the vehicle.
64 Citations
20 Claims
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1. A detection method for monitoring an environment of a vehicle capable of moving according to a path, wherein said method comprises the steps of:
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calculating, via a data processor, a plurality of critical levels of driving depending on a plurality of sensed signals from a plurality of ultrasonic detection sensors and at least one of a speed of said vehicle, a detected distance to an obstacle taking account of an angle of a steering wheel said vehicle, and a relative velocity between said vehicle and said obstacle; determining if said obstacle is on the path of said vehicle; and determining a level of confidence associated with each of said plurality of ultrasonic detection sensors depending on a distance between said vehicle and said obstacle; said step of determining if said obstacle is on the path of said vehicle further comprising the steps of; defining static zones of detection and probabilities of detection associated with each of said static zones of detection in response to the at least one level of confidence; defining dynamic zones of detection; determining, for each of said dynamic zones of detection, if said obstacle is on the path of said vehicle as a function of said probabilities of detection and taking into account said angle of said steering wheel; and deducing a critical marker on a basis of at least two of the critical levels of driving and sending a braking signal for braking said vehicle in response to the determination that said obstacle is on the path of said vehicle and said critical marker is higher than a critical threshold; and wherein said dynamic zones of detection correspond to a collision risk if said vehicle turns right, turns left or keeping straight. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A detection method for monitoring an environment of a vehicle capable of moving according to a path, wherein said method comprises the steps of;
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calculating, via a data processor, a plurality of critical levels of driving depending on a plurality of sensed signals from a plurality of ultrasonic detection sensors and at least one of a speed of said vehicle, a detected distance to an obstacle taking account of an angle of a steering wheel said vehicle, and a relative velocity between said vehicle and said obstacle; determining if said obstacle is on the path of said vehicle; and determining a level of confidence associated with each of said plurality of ultrasonic detection sensors depending on a distance between said vehicle and said obstacle; said steps of determining if said obstacle is on the path of said vehicle further comprising the steps of; defining static zones of detection and probabilities of detection associated with each of said static zones of detection in response to the least one level of confidence; defining dynamic zones of detection; determining, for each of said dynamic zones of detection, if said obstacle is on the path of said vehicle as a function of said probabilities of detection and taking into account said angle of said steering wheel; and deducting a critical marker on a basis of at least two of the critical levels of driving and sending a braking signal for breaking said vehicle in response to the determination that said obstacle is on the path of said vehicle and said critical marker is higher than a critical threshold; and wherein said dynamic zones of detection correspond to a collision risk if said vehicle turns right, turns left or keeping straight; wherein said critical marker is determined on the basis of said calculated critical levels of driving equal to the average of the two highest critical levels of driving.
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19. A monitoring device for monitoring an environment of a vehicle capable of moving according to a path, wherein said monitoring device comprises a control unit configured to:
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calculate, via a data processor, a plurality of critical levels of driving depending on a plurality of sensed signals from a plurality of ultrasonic detection sensors, and at least one of a speed of said vehicle, a detected distance to an obstacle taking account of an angle of a steering wheel said vehicle, and a relative velocity between said vehicle and said obstacle; determine if said obstacle is on the path of said vehicle; and determine a level of confidence associated with each of said plurality of ultrasonic detection sensors depending on a distance between said vehicle and said obstacle; define static zones of detection and probabilities of detection associated with each of said static zones of detection in response to the at least one level of confidence; define dynamic zones of detection; determine, for each of said dynamic zones of detection, if said obstacle is on the path of said vehicle as a function of said probabilities of detection and taking into account, an angle of said steering wheel; and deduce a critical marker on the basis of at least two of said plurality of critical levels of driving and send a braking signal for braking said vehicle in response to a determination that said obstacle is on the path of said vehicle and the critical marker is higher than a critical threshold; wherein said dynamic zones of detection correspond to a collision risk if said vehicle turns right, turns left or keeps straight.
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20. A detection method for monitoring an environment of a vehicle capable of moving according to a path, wherein said method comprises the steps of;
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calculating, via a data processor, a plurality of critical levels of driving depending on a plurality of sensed signals from a plurality of ultrasonic detection sensors and at least one of a speed of said vehicle, a detected distance to an obstacle taking account of an angle of a steering wheel said vehicle, and a relative velocity between said vehicle and said obstacle; determining if said obstacle is on the path of said vehicle; and determining a level of confidence associated with each of said plurality of ultrasonic detection sensors depending on a distance between said vehicle and said obstacle; said step of determining if said obstacle is on the path of said vehicle further comprising the steps of; defining static zones of detection and probabilities of detection associated with each of said static zones of detection in response to the at least one level of confidence; defining dynamic zones of detection; determining, for each of said dynamic zones of detection, if said obstacle is on the path of said vehicle as a function of said probabilities of detection and taking into account said angle of said steering wheel; and deducting a critical marker on a basis of at least two of the critical levels of driving and sending a braking signal for braking said vehicle in response to the determination that said obstacle is on the path of said vehicle and said critical marker is higher than a critical threshold; and wherein said dynamic zones of detection correspond to a collision risk if said vehicle turns right, turns left or keeping straight; wherein a first critical level of driving is determined depending on an activation of said ultrasonic detection sensors; wherein said critical marker is determined on the basis of said calculated critical levels of driving equal to the average of the two highest critical levels of driving.
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Specification