Collision warning system using driver intention estimator
First Claim
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1. A method of operating a collision warning system in a subject vehicle, comprising the steps of:
- receiving, by an electronic control unit (ECU), information related to a target vehicle approaching an intersection, wherein the information related to the target vehicle has been transmitted by the target vehicle;
determining, based on the received information related to the target vehicle, a distance of the target vehicle from the intersection, a current speed of the target vehicle, and an acceleration of the target vehicle by the ECU;
calculating, by the ECU, an initial state of the target vehicle as the target vehicle approaches the intersection based on the distance of the target vehicle from the intersection;
calculating, by the ECU, a plurality of possible end states of the target vehicle based on the initial state, the distance of the target vehicle from the intersection, the current speed of the target vehicle, and the acceleration of the target vehicle;
predicting, by the ECU, a final end state of the plurality of possible end states based on the step of calculating the plurality of possible end states;
wherein the final end state is associated with a predicted target vehicle action selected from a plurality of vehicle actions, the plurality of vehicle actions comprising going straight through the intersection, stopping at the intersection, and making a turn at the intersection; and
initiating a providing of an alert through the collision warning system based on the predicted target vehicle action.
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Abstract
A collision warning system for a subject vehicle is disclosed. The collision warning system uses data relating to the subject vehicle and a target vehicle in an algorithm to estimate the intention of the driver of the subject vehicle. The system uses historic data to improve the algorithm to obtain more accurate estimates.
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Citations
46 Claims
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1. A method of operating a collision warning system in a subject vehicle, comprising the steps of:
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receiving, by an electronic control unit (ECU), information related to a target vehicle approaching an intersection, wherein the information related to the target vehicle has been transmitted by the target vehicle; determining, based on the received information related to the target vehicle, a distance of the target vehicle from the intersection, a current speed of the target vehicle, and an acceleration of the target vehicle by the ECU; calculating, by the ECU, an initial state of the target vehicle as the target vehicle approaches the intersection based on the distance of the target vehicle from the intersection; calculating, by the ECU, a plurality of possible end states of the target vehicle based on the initial state, the distance of the target vehicle from the intersection, the current speed of the target vehicle, and the acceleration of the target vehicle; predicting, by the ECU, a final end state of the plurality of possible end states based on the step of calculating the plurality of possible end states; wherein the final end state is associated with a predicted target vehicle action selected from a plurality of vehicle actions, the plurality of vehicle actions comprising going straight through the intersection, stopping at the intersection, and making a turn at the intersection; and initiating a providing of an alert through the collision warning system based on the predicted target vehicle action. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method of operating a collision warning system in a subject vehicle, comprising the steps of:
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receiving, by an electronic control unit (ECU), information related to a target vehicle approaching an intersection, wherein the information related to the target vehicle has been transmitted by the target vehicle; determining, based on the received information related to the target vehicle, a distance of the target vehicle from the intersection, a current speed of the target vehicle, and an acceleration of the target vehicle by the ECU; calculating, by the ECU, an initial state of the target vehicle as the target vehicle approaches the intersection based on the distance of the target vehicle from the intersection; calculating, by the ECU, a plurality of possible end states of the target vehicle based on the initial state, the distance of the target vehicle from the intersection, the current speed of the target vehicle, and the acceleration of the target vehicle; predicting, by the ECU, a final end state of the plurality of possible end states based on the step of calculating the plurality of possible end states; wherein the final end state is associated with a predicted target vehicle action selected from a plurality of vehicle actions, the plurality of vehicle actions comprising going straight through the intersection, stopping at the intersection, and making a turn at the intersection; calculating, by the ECU, a time to an estimated collision point based on the predicted target vehicle action; and selecting, by the ECU, an alert from a plurality of alerts based on the time to the estimated collision point, each of the plurality of alerts indicating the estimated vehicle collision point. - View Dependent Claims (10, 11, 12, 13, 14, 15)
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16. A method of operating a collision warning system in a subject vehicle, comprising the steps of:
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processing, by an electronic control unit (ECU), of information received from a target vehicle to; calculate an initial state of the target vehicle as the target vehicle approaches an intersection; calculate a plurality of possible end states of the target vehicle based on the initial state and based on a distance of the target vehicle from the intersection, a current speed of the target vehicle, and an acceleration of the target vehicle; predict a final end state of the plurality of possible end states based on the processing to calculate the plurality of possible end states; and wherein the final end state is associated with a predicted target vehicle action selected from a plurality of vehicle actions, the plurality of vehicle actions comprising going straight through the intersection, stopping at the intersection, and making a turn at the intersection; initiating a providing of an alert through the collision warning system based on the predicted target vehicle action; comparing, by the ECU, the predicted target vehicle action to the actual actions of the target vehicle; and updating, by the ECU, probabilities between states of the target vehicle based on the step of comparing of the predicted target vehicle action to the actual actions of the target vehicle. - View Dependent Claims (17, 18, 19, 20)
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21. A method of operating a collision warning system in a subject vehicle, comprising the steps:
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receiving, by an electronic control unit (ECU), information related to the subject vehicle approaching an intersection; receiving, by the ECU, information related to a target vehicle approaching the intersection, wherein the information related to the target vehicle has been transmitted by the target vehicle; determining, based on the received information related to the subject vehicle, a distance of the subject vehicle from the intersection, a current speed of the subject vehicle, and an acceleration of the subject vehicle by the ECU; determining, based on the received information related to the target vehicle, a distance of the target vehicle from the intersection, a current speed of the target vehicle, and an acceleration of the target vehicle by the ECU; calculating, by the ECU, an initial state of the target vehicle as the target vehicle approaches the intersection based on the distance of the target vehicle from the intersection; calculating, by the ECU, a plurality of possible end states of the target vehicle based on the initial state of the target vehicle, the distance of the target vehicle from the intersection, the current speed of the target vehicle, and the acceleration of the target vehicle; predicting, by the ECU, a final end state of the plurality of possible end states of the target vehicle based on the step of calculating the plurality of possible end states of the target vehicle; wherein the final end state is associated with a predicted target vehicle action selected from a plurality of vehicle actions, the plurality of vehicle actions comprising going straight through the intersection, stopping at the intersection, and making a turn at the intersection; predicting, by the ECU, a subject vehicle action of the subject vehicle as the subject vehicle approaches the intersection based on the distance of the subject vehicle from the intersection, current speed of the subject vehicle, and acceleration of the subject vehicle, wherein the subject vehicle action is selected from the plurality of vehicle actions; and initiating a providing of an alert through the collision warning system based on the predicted subject vehicle action and the predicted target vehicle action. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28)
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29. A method of operating a collision warning system in a subject vehicle, comprising the steps:
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receiving, by an electronic control unit (ECU), information related to the subject vehicle approaching an intersection; receiving, by the ECU, information related to a target vehicle approaching the intersection, wherein the information related to the target vehicle has been transmitted by the target vehicle; determining, based on the received information related to the subject vehicle, a distance of the subject vehicle from the intersection, a current speed of the subject vehicle, and an acceleration of the subject vehicle by the ECU; determining, based on the received information related to the target vehicle, a distance of the target vehicle from the intersection, a current speed of the target vehicle, and an acceleration of the target vehicle by the ECU; calculating, by the ECU, an initial state of the target vehicle as the target vehicle approaches the intersection based on the distance of the target vehicle from the intersection; calculating, by the ECU, a plurality of possible end states of the target vehicle based on the initial state of the target vehicle, the distance of the target vehicle from the intersection, the current speed of the target vehicle, and the acceleration of the target vehicle; predicting, by the ECU, a final end state of the plurality of possible end states the target vehicle based on the step of calculating the plurality of possible end states of the target vehicle; wherein the final end state of the plurality of possible end states of the target vehicle is associated with a predicted target vehicle action selected from a plurality of vehicle actions, the plurality of vehicle actions comprising going straight through the intersection, stopping at the intersection, and making a turn at the intersection; predicting, by the ECU, a subject vehicle action of the subject vehicle as the subject vehicle approaches the intersection based on the distance of the subject vehicle from the intersection, current speed of the subject vehicle, and acceleration of the subject vehicle, wherein the subject vehicle action is selected from the plurality of vehicle actions; calculating, by the ECU, a time to an estimated collision point based on the predicted target vehicle action and the predicted subject vehicle action; and selecting, by the ECU, an alert from a plurality of alerts based on the time to the estimated collision point, each of the plurality of alerts indicating the estimated vehicle collision point. - View Dependent Claims (30, 31, 32, 33, 34, 35)
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36. A method of operating a collision warning system in a subject vehicle, comprising the steps:
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processing, by an electronic control unit (ECU), of information received from a subject vehicle to; calculate an initial state of the subject vehicle as the subject vehicle approaches an intersection; calculate a plurality of possible end states of the subject vehicle based on the initial state and based on a distance of the subject vehicle from the intersection, a current speed of the subject vehicle, and an acceleration of the subject vehicle; predict a final end state of the plurality of possible end states based on the step of calculating the plurality of possible end states; and wherein the final end state is associated with a predicted subject vehicle action selected from a plurality of vehicle actions, the plurality of vehicle actions comprising going straight through the intersection, stopping at the intersection, and making a turn at the intersection; initiating a providing of an alert through the collision warning system based on the predicted subject vehicle action; comparing, by the ECU, the predicted subject vehicle action to the actual actions of the subject vehicle; and updating, by the ECU, probabilities between states of the subject vehicle based on the comparing of the predicted subject vehicle action to the actual actions of the subject vehicle. - View Dependent Claims (37, 38, 39, 40)
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41. A method for estimating an unsafe condition, comprising the steps:
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receiving, by an electronic control unit (ECU), data relating to a target vehicle, wherein the data relating to the target vehicle has been transmitted by the target vehicle; receiving, by the ECU, data relating to a subject vehicle; estimating a point in time that the target vehicle will arrive at an intersection based on the received data relating to the target vehicle; estimating a point in time that a subject vehicle will arrive at the intersection based on the received data relating to the subject vehicle; calculating, by the ECU, an initial state of the target vehicle based on the step of estimating the point in time that the target vehicle will arrive at the intersection; calculating, by the ECU, an initial state of the subject vehicle based on the step of estimating the point in time that the subject vehicle will arrive at the intersection; calculating, by the ECU, a plurality of possible end states of the target vehicle based on the initial state of the target vehicle and based on a distance of the target vehicle from the intersection, a current speed of the target vehicle, and an acceleration of the target vehicle; predicting, by the ECU, a final end state of the plurality of possible end states of the target vehicle based on the step of calculating the plurality of possible end states; wherein the final end state of the plurality of possible end states of the target vehicle is associated with a predicted target vehicle action selected from a plurality of vehicle actions, the plurality of vehicle actions comprising going straight through the intersection, stopping at the intersection, and making a turn at the intersection; calculating, by the ECU, a plurality of possible end states of the subject vehicle based on the initial state of the subject vehicle and based on a distance of the subject vehicle from the intersection, a current speed of the subject vehicle, and an acceleration of the subject vehicle; predicting, by the ECU, a final end state of the plurality of possible end states of the subject vehicle based on the step of calculating the plurality of possible end states of the subject vehicle; wherein the final end state of the plurality of possible end states of the subject vehicle is associated with a predicted subject vehicle action selected from the plurality of vehicle actions; and providing an alarm based on the predicted target vehicle action and the predicted subject vehicle action and based on a comparison of the estimated point in time that the target vehicle will arrive at the intersection and on the estimated point in time that the subject vehicle will arrive at the intersection. - View Dependent Claims (42, 43, 44, 45, 46)
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Specification