Method for operating a driver assistance system of a vehicle

• US 9,358,976 B2
• Filed: 08/28/2013
• Issued: 06/07/2016
• Est. Priority Date: 09/14/2012
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Stierlin, Susanne
• Primary Examiner(s): Le, Vu
• Assistant Examiner(s): Lesnick, Alexander J
• Application Number:
  US14/428,593
• Publication Number:
  US 20150274161A1
• Time in Patent Office: 1,014 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• 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: G06T 2207/10004 Still image; Photographic image
• CPC Class Codes: G06T 2207/10016 Video; Image sequence
• CPC Class Codes: G06T 2207/10028 Range image; Depth image; 3D point clouds
• CPC Class Codes: G06T 2207/20024 Filtering details
• CPC Class Codes: G06T 2207/30236 Traffic on road, railway or crossing
• CPC Class Codes: G06T 2207/30261 Obstacle
• CPC Class Codes: G06T 7/277 involving stochastic approaches, e.g. using Kalman filters
• CPC Class Codes: G06T 7/74 involving reference images or patches
• 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 1/163 involving continuous checking
• CPC Class Codes: H04N 7/188 Capturing isolated or intermittent images triggered by the occurrence of a predetermined event, e.g. an object reaching a predetermined position signal generation from motion picture films H04N5/253

Abstract

A method is provided for operating a driver assistance system of a vehicle, including the following steps:

• • formation of video data that correspond to an object in a surrounding environment of a vehicle,
  • formation of at least one motion parameter of the object relative to the vehicle, based on the video data, and standardized to a distance between the vehicle and the object,
  • calculation of a collision-related threshold value based on the standardized motion parameter,
  • the driver assistance system carrying out an action as a function of a comparison between the threshold value and a collision-related parameter.

A driver assistance system, a vehicle, and a computer program are also provided.

Claims

1. A method for operating a driver assistance system of a vehicle, comprising:

forming video data that correspond to an object in a surrounding environment of a vehicle;

forming at least one motion parameter of the object relative to the vehicle, based on the video data, and standardized to a distance between the vehicle and the object, wherein a standardized relative acceleration (ã

) and a standardized relative velocity ({tilde over (v)}) are formed as standardized motion parameters;

calculating a collision-related threshold value based on the standardized motion parameters; and

controlling the driver assistance system to carry out an action as a function of a comparison between the threshold value and a collision-related parameter, wherein the carried out action includes at least one of providing a warning signal and intervening in a vehicle guidance;

wherein the collision-related parameter is a time to collision and the threshold value is a time to collision threshold value TTC_shwell that is calculated according to the following mathematical equation;

2. The method as recited in claim 1, further comprising:

calculating a further collision-related threshold value based on object data, differing from the video data, that correspond to the object in the surrounding environment of the vehicle, the action being carried out additionally as a function of the further threshold value.

3. The method as recited in claim 1, further comprising controlling an intensity of the warning signal as a function of the comparison.

4. A method for operating a driver assistance system of a vehicle, comprising:

forming video data that correspond to an object in a surrounding environment of a vehicle;

forming at least one motion parameter of the object relative to the vehicle, based on the video data, and standardized to a distance d between the vehicle and the object, wherein a standardized relative acceleration (ã

) and a standardized relative velocity ({tilde over (v)}) are formed as standardized motion parameters;

calculating a collision-related threshold value based on the standardized motion parameters; and

controlling the driver assistance system to carry out an action as a function of a comparison between the threshold value and a collision-related parameter, wherein the carried out action includes at least one of providing a warning signal and intervening in a vehicle guidance;

wherein the collision-related parameter is a defined reaction time (Δ

t_reakt)of a driver and the threshold value is a braking time TTB that corresponds to a time duration from a momentary time up to a time at which the vehicle has to be braked with a specified deceleration in order to prevent the collision, the braking time TTM being calculated using the following mathematical equation;

5. A driver assistance system for a vehicle, comprising:

an acquisition device for forming video data that correspond to an object in the surrounding environment of a vehicle;

a data processing device for forming at least one motion parameter of the object relative to the vehicle, based on the video data, and standardized to a distance between the vehicle and the object, wherein a standardized relative acceleration (ã

) and a standardized relative velocity ({tilde over (v)}) are formed as standardized motion parameters, and for calculating a collision-related threshold value based on the standardized motion parameters; and

a control unit for carrying out an action as a function of a comparison between the threshold value and a collision-related parameter, wherein the carried out action includes at least one of providing a warning signal and intervening in a vehicle guidance;

wherein the collision-related parameter is a time to collision and the threshold value is a time to collision threshold value TTC_schwell that is calculated according to the following mathematical equation;

6. A non-transitory computer-readable medium storing a computer program comprising program code for executing, when the computer program is executed in the computer, a method for operating a driver assistance system of a vehicle, the method comprising:

forming video data that correspond to an object in a surrounding environment of a vehicle;

forming at least one motion parameter of the object relative to the vehicle, based on the video data, and standardized to a distance between the vehicle and the object, wherein a standardized relative acceleration (ã

) and a standardized relative velocity ({tilde over (v)}) are formed as standardized motion parameters;

calculating a collision-related threshold value based on the standardized motion parameters; and

controlling the driver assistance system to carry out an action as a function of a comparison between the threshold value and a collision-related parameter, wherein the carried out action includes at least one of providing a warning signal and intervening in a vehicle guidance;

wherein the collision-related parameter is a time to collision and the threshold value is a time to collision threshold value TTC_schwell that is calculated according to the following mathematical equation;