Rear collision avoidance system for vehicle

• US 9,327,693 B2
• Filed: 04/09/2014
• Issued: 05/03/2016
• Est. Priority Date: 04/10/2013
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Wolf, Johannes
• Primary Examiner(s): Figueroa, Jaime
• Application Number:
  US14/248,602
• Publication Number:
  US 20140309884A1
• Time in Patent Office: 755 Days
• Field of Search: 701/1, 701/2, 701/23, 701/24, 701/26, 701/28, 701/36, 701/41, 701/45, 701/70, 701/442, 701/300, 701/301, 701/302, 340/905, 340/435, 340/436, 340/903, 340/902
• US Class Current: 1/1
• CPC Class Codes: B60R 1/26 to the rear of the vehicle
• CPC Class Codes: B60R 2300/70 characterised by an event-triggered choice to display a specific image among a selection of captured images
• CPC Class Codes: B60R 2300/8026 in addition to a rear-view mirror system
• CPC Class Codes: B60R 2300/806 for aiding parking
• CPC Class Codes: B60T 2201/024 Collision mitigation 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: B60T 8/17 Using electrical or electronic regulation means to control braking detecting or indicating faulty operation B60T8/885
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 10/30 including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2556/65 Data transmitted between vehicles
• CPC Class Codes: B60W 2710/18 : Braking system
• CPC Class Codes: B60W 2710/20 : Steering systems
• CPC Class Codes: B60W 2710/30 : Auxiliary equipments
• 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: 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 30/0953 : the prediction being responsive to vehicle dynamic parameters
• CPC Class Codes: B60W 50/14 : Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B62D 15/0265 : Automatic obstacle avoidance by steering
• CPC Class Codes: B62D 6/002 : computing target steering angles for front or rear wheels B62D7/159 takes precedence
• CPC Class Codes: G05D 1/0214 : in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: G06V 20/58 : Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
• 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 1/166 : for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A collision avoidance system of a vehicle includes a camera disposed at a vehicle and having a field of view exterior of and rearward of the vehicle. An image processor is operable to process image data captured by the camera. Responsive to image processing of captured image data, the collision avoidance system is operable to determine an approach of a vehicle rearward of the vehicle and to determine an excitation level depending on a difference between the speed of the approaching vehicle and the speed of the equipped vehicle and a distance between the approaching vehicle and the equipped vehicle. Responsive to the determined excitation level, the collision avoidance system may provide an alert to the driver of one or both vehicles, prepare for impact, control a vehicle braking system, vehicle steering system and/or vehicle acceleration system and/or communicate information to the approaching vehicle via a telematics system.

Claims

1. A collision avoidance system of a vehicle, said collision avoidance system comprising:

a camera disposed at a vehicle equipped with said collision avoidance system, said camera having a field of view exterior of and rearward of the equipped vehicle;

a plurality of other sensors disposed at the equipped vehicle so as to sense forwardly and sidewardly of the equipped vehicle, said plurality of other sensors capturing sensor data;

an image processor operable to process image data captured by said camera;

wherein, responsive to image processing of captured image data, said collision avoidance system is operable to determine an approach of a vehicle rearward of the equipped vehicle and to determine an excitation level depending on (i) a difference between the speed of the approaching vehicle and the speed of the equipped vehicle and (ii) a distance between the approaching vehicle and the equipped vehicle;

wherein, responsive to a determined excitation level, said collision avoidance system is operable to at least one of (a) provide an alert to the driver of the equipped vehicle, (b) provide a visual alert to the driver of the approaching vehicle, (c) prepare the equipped vehicle for impact, (d) control a braking system of the equipped vehicle and (e) control an acceleration system of the equipped vehicle;

wherein, responsive to a determined excitation level, said collision avoidance system is operable to at least one of (i) transmit an alert to the driver of the approaching vehicle via a telematics system and (ii) communicate information to the approaching vehicle via a telematics system; and

wherein said collision avoidance system is operable to process sensor data captured by said plurality of other sensors to determine at least one avoidance path of travel for the equipped vehicle to follow, and wherein, responsive to the determined excitation level being greater than a threshold level, said collision avoidance system controls a steering system of the equipped vehicle to follow the determined avoidance path of travel.

2. The collision avoidance system of claim 1, wherein, responsive to a determined excitation level, said collision avoidance system is operable to transmit an alert to the driver of the approaching vehicle via the telematics system.

3. The collision avoidance system of claim 1, wherein, responsive to a determined excitation level, said collision avoidance system is operable to communicate information to the approaching vehicle via the telematics system.

4. The collision avoidance system of claim 3, wherein, responsive to a determined excitation level being at a first threshold level, said collision avoidance system is operable to communicate speed and deceleration rates to the approaching vehicle.

5. The collision avoidance system of claim 4, wherein, responsive to a determined excitation level being at a second threshold level, said collision avoidance system is operable to request a brake intervention to the approaching vehicle to control the brake system of the approaching vehicle.

6. The collision avoidance system of claim 5, wherein said collision avoidance system is operable to request an increased degree of braking of the approaching vehicle responsive to an increased determined excitation level.

7. The collision avoidance system of claim 5, wherein, responsive to a determined excitation level being at a third threshold level, said collision avoidance system is operable to communicate with the approaching vehicle to determine respective collision avoidance paths for the vehicles to mitigate collision.

8. The collision avoidance system of claim 1, wherein, responsive to a determined excitation level being indicative of an imminent collision, said collision avoidance system is operable to prepare the equipped vehicle for impact.

9. The collision avoidance system of claim 8, wherein said collision avoidance system prepares the equipped vehicle for impact by at least one of (i) pretensioning a seat belt of the equipped vehicle, (ii) adjusting a seat of the equipped vehicle, (iii) adjusting a seat of the equipped vehicle to an upright position, (iv) adjusting a headrest of the equipped vehicle and (v) deploying a roll over bar of the equipped vehicle.

10. The collision avoidance system of claim 1, wherein, responsive to a determined excitation level being at a first threshold level, said collision avoidance system is operable to (a) provide an alert to the driver of the equipped vehicle and (b) provide an alert to the driver of the approaching vehicle.

11. The collision avoidance system of claim 10, wherein, responsive to a determined excitation level being at a second threshold level, said collision avoidance system is operable to (a) control a braking system of the equipped vehicle, (b) control the steering system of the equipped vehicle and (c) control an acceleration system of the equipped vehicle.

12. The collision avoidance system of claim 11, wherein said collision avoidance system provides a variable visible alert to the driver of the equipped vehicle and wherein said variable visible alert at least one of (i) increases intensity as the determined excitation level increases and (ii) increases a rate of flash as the determined excitation level increases.

13. The collision avoidance system of claim 11, wherein said collision avoidance system provides a variable visible alert to the driver of the approaching vehicle and wherein said variable visible alert at least one of (i) increases intensity as the determined excitation level increases and (ii) increases a rate of flash as the determined excitation level increases.

14. A collision avoidance system of a vehicle, said collision avoidance system comprising:

a camera disposed at a vehicle equipped with said collision avoidance system, said camera having a field of view exterior of and rearward of the equipped vehicle;

a plurality of other sensors disposed at the equipped vehicle so as to sense forwardly and sidewardly of the equipped vehicle, said plurality of other sensors capturing sensor data;

an image processor operable to process image data captured by said camera;

wherein, responsive to image processing of captured image data, said collision avoidance system is operable to determine an approach of a vehicle rearward of the equipped vehicle and to determine an excitation level depending on (i) a difference between the speed of the approaching vehicle and the speed of the equipped vehicle and (ii) a distance between the approaching vehicle and the equipped vehicle;

wherein, responsive to a determined excitation level, said collision avoidance system is operable to at least one of (a) control a braking system of the equipped vehicle and (b) control an acceleration system of the equipped vehicle;

wherein, responsive to a determined excitation level and processing of sensor data captured by said plurality of other sensors, said collision avoidance system is operable to determine an avoidance path of travel for the equipped vehicle;

wherein, responsive to a determined excitation level, said collision avoidance system is operable to at least one of (i) transmit an alert to the driver of the approaching vehicle via a telematics system and (ii) communicate information to the approaching vehicle via a telematics system;

wherein, responsive to a determined excitation level being at a first threshold level, said collision avoidance system is operable to (a) provide an alert to the driver of the equipped vehicle and (b) provide a visible alert to the driver of the approaching vehicle;

wherein, responsive to a determined excitation level being at a second threshold level, said collision avoidance system is operable to control a steering system of the equipped vehicle to follow the determined avoidance path of travel; and

wherein, responsive to a determined excitation level being at a third threshold level that is indicative of an imminent collision, said collision avoidance system is operable to prepare the equipped vehicle for impact.

15. The collision avoidance system of claim 14, wherein, responsive to a determined excitation level being at a said second threshold level between said first and third threshold levels, said collision avoidance system is operable to request a brake intervention to the approaching vehicle to control the brake system of the approaching vehicle.

16. The collision avoidance system of claim 15, wherein said collision avoidance system is operable to request an increased degree of braking of the approaching vehicle responsive to an increased determined excitation level.

17. The collision avoidance system of claim 14, wherein said collision avoidance system prepares the equipped vehicle for impact by at least one of (i) pretensioning a seat belt of the equipped vehicle, (ii) adjusting a seat of the equipped vehicle to an upright position and (iii) adjusting a headrest of the equipped vehicle.

18. A collision avoidance system of a vehicle, said collision avoidance system comprising:

a camera disposed at a vehicle equipped with said collision avoidance system, said camera having a field of view exterior of and rearward of the equipped vehicle;

a plurality of other sensors disposed at the equipped vehicle so as to sense forwardly and sidewardly of the equipped vehicle, said plurality of other sensors capturing sensor data;

an image processor operable to process image data captured by said camera;

wherein, responsive to image processing of captured image data, said collision avoidance system is operable to determine an approach of a vehicle rearward of the equipped vehicle and to determine an excitation level depending on (i) a difference between the speed of the approaching vehicle and the speed of the equipped vehicle and (ii) a distance between the approaching vehicle and the equipped vehicle;

wherein, responsive to a determined excitation level, said collision avoidance system is operable to at least one of (i) transmit an alert to the driver of the approaching vehicle via a telematics system and (ii) communicate information to the approaching vehicle via a telematics system;

wherein, responsive to a determined excitation level, said collision avoidance system is operable to process sensor data captured by said plurality of other sensors to determine at least one avoidance path of travel for the equipped vehicle to follow;

wherein, responsive to a determined excitation level being at a first threshold level, said collision avoidance system is operable to (a) provide an alert to the driver of the equipped vehicle and (b) provide a visible alert to the driver of the approaching vehicle;

wherein, responsive to a determined excitation level being at a second threshold level, said collision avoidance system is operable to control a steering system of the equipped vehicle to follow the determined avoidance path of travel and wherein, while following the determined avoidance path of travel, said collision avoidance system is operable to control at least one of (a) a braking system of the equipped vehicle and (b) an acceleration system of the equipped vehicle; and

wherein, responsive to a determined excitation level being at a third threshold level that is indicative of an imminent collision, said collision avoidance system is operable to prepare the equipped vehicle for impact.

19. The collision avoidance system of claim 18, wherein at least one of (a) said collision avoidance system provides a variable visible alert to the driver of the equipped vehicle and wherein said variable visible alert at least one of (i) increases intensity as the determined excitation level increases and (ii) increases a rate of flash as the determined excitation level increases, and (b) said collision avoidance system provides a variable visible alert to the driver of the approaching vehicle and wherein said variable visible alert at least one of (i) increases intensity as the determined excitation level increases and (ii) increases a rate of flash as the determined excitation level increases.

20. The collision avoidance system of claim 18, wherein, responsive to a determined excitation level being at a threshold level between said first and third threshold levels, said collision avoidance system is operable to request a brake intervention to the approaching vehicle to control the brake system of the approaching vehicle, and wherein said collision avoidance system is operable to request an increased degree of braking of the approaching vehicle responsive to an increased determined excitation level.