False warning reduction using location data

• US 9,260,059 B2
• Filed: 04/25/2014
• Issued: 02/16/2016
• Est. Priority Date: 04/25/2014
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH, Robert Bosch LLC (Robert Bosch GmbH)
• Original Assignee: Robert Bosch GmbH
• Inventors: Rayes, Freddy, Garcia Bordes, Maria Eugenia
• Primary Examiner(s): To, Tuan C.
• Assistant Examiner(s): SMITH, ISAAC G
• Application Number:
  US14/261,580
• Publication Number:
  US 20150307023A1
• Time in Patent Office: 662 Days
• Field of Search: 701/70, 701/301, 342/70
• US Class Current: 1/1
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60W 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G08G 1/096725 where the received information generates an automatic action on the vehicle control
• CPC Class Codes: G08G 1/096741 where the source of the transmitted information selects which information to transmit to each vehicle
• CPC Class Codes: G08G 1/096775 where the origin of the information is a central station
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees

Abstract

A collision warning system for a host vehicle includes a false warning reduction arrangement. A collision sensor senses a presence of a target object within a forward path of a vehicle and a navigation system senses the global position of the vehicle. The collision warning system receives the location information and the target object to provide a collision warning to a vehicle operator. To avoid false alerts, the collision warning system compares target object and location to target objects and locations stored in a false alert database. When the target object is provided in the database, a warning is delayed or suppressed. The collision warning system also senses driver reactions to a warning. When a warning results in no reaction by a vehicle operator, the warning is considered a false alert, and the target object and location are stored in the false alert database.

Claims

1. A method of reducing false collision warnings comprising the steps of:

determining a presence of a target object within a path of a host vehicle with a sensor, the presence indicating conditions for a collision;

determining a present location of the host vehicle;

determining whether the target object is stored in a false alert database for the determined present location;

suppressing a warning when the target object and the location are stored in the false alert database;

when the warning is suppressed, determining a reaction by a host vehicle operator to the target object within a time period with a reaction sensing device;

when the host vehicle operator reacts within the time period, determining that the target object is not a false target object and removing the target object and the location from the false alert database, and

providing a warning when the target object is not stored in the false alert database.

2. The method of claim 1, wherein the step of providing a warning is followed by a step of storing the target object and the location in the false alert database when the host vehicle operator does not react to the object, the target object including data about the object.

3. The method of claim 2, including, subsequent to storing the object and the location in the false alert database, determining a lateral distance to the object and when the lateral distance is less than about ½

a vehicle width of the host vehicle, classifying the object as a ground/overhead structure in the false alert database.

4. The method of claim 3, including, subsequent to storing the object and the location in the false alert database, determining a lateral distance to the object and when the lateral distance is more than about ½

a vehicle width of the host vehicle, classifying the object as a lateral structure in the false alert database.

5. The method of claim 4, wherein the lateral structure is a traffic sign or guard rail adjacent a vehicle roadway.

6. The method of claim 1, including, before suppressing a warning, determining whether the target object at the location is classified as a ground/overhead structure, and when the object is classified as a ground/overhead structure, triggering the warning after a time delay.

7. The method of claim 1, wherein a reaction by the host vehicle operator comprises at least one of:

actuating the brake system within a predetermined time with at least at a predetermined force, and changing a steering path of the host vehicle a predetermined amount.

8. The method of claim 1, wherein the step of determining the presence of a target object with the sensor comprises controlling a radar or LIDAR disposed at a front end of the host vehicle to detect a forward collision.

9. The method of claim 1, wherein the step of determining whether the target object is stored in a false alert database for the determined present location comprises sending the location and the target object over a wireless network to a remote database and comparing the location and the target object to a stored location and stored target object.

10. The method of claim 1, wherein the step of determining whether the target object is stored in a false alert database for the determined present location comprises receiving a stored location and a stored target object over a wireless network from a remote database and comparing the determined location and the determined target object to the stored location and the stored target object.

11. The method of claim 1, wherein the step of determining whether the target object is stored in the false alert database comprises classifying the target object and comparing the classification of the target object with a stored target object that is stored at the same location in the false alert database.

12. A system for reducing false collision warnings comprising:

a forward collision sensor for sensing a presence of a target object within a forward path of a host vehicle;

a navigation system for determining a present location of the host vehicle;

a reaction sensing device for determining a reaction by a host vehicle operator;

a forward collision warning system including a processor; and

a false alert database in communication with the processor for storing target objects and locations of the target objects,

wherein the processor receives the presence of the target object from the forward collision sensor and the present location of the host vehicle from the navigation system, and communicates with the false alert database to determine whether a stored target object at a stored location corresponding to the location of the sensed target object is provided in the false alert database, when the sensed target object is provided in the false alert database and the reaction sensing device determines a reaction by a host vehicle operation within a given time period, the processor determines that the sensed target object is not a false target object and removes the target object and the location from the false alert database.

13. The system of claim 12, wherein the reaction sensing device for determining a reaction by a host vehicle operator comprises at least one of:

a brake sensing and control system, and an electronic stability control unit.

14. The system of claim 12, wherein the processor determines the location of the target object from the present location of the host vehicle, along with distance and direction information for the target object provided by the forward vehicle sensor.

15. The system of claim 12, wherein the processor communicates with the false alert database over a wireless network and wherein the false alert database is disposed at a remote location and not disposed on the host vehicle.

16. The system of claim 15, wherein the false alert database receives and stores target objects and locations from a plurality of other host vehicles.

17. The system of claim 16, wherein the false alert database provides stored target objects and corresponding stored locations received from the plurality of other host vehicles to the host vehicle when one of the stored locations from the false alert database matches the location of the target object sensed by the forward collision sensor.

18. The system of claim 12, wherein the processor of the forward collision warning system is configured to provide a warning signal to a warning unit that outputs at least one of a visual and audio warning when the sensed target object and the location do not match the stored target object at the same location, and the processor is configured to provide automatic emergency braking when the sensed target object and the location meet minimum parameters.