Enhanced lane departure system

• US 9,415,776 B2
• Filed: 10/31/2014
• Issued: 08/16/2016
• Est. Priority Date: 09/05/2013
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH, Robert Bosch LLC (Robert Bosch GmbH)
• Original Assignee: Robert Bosch GmbH
• Inventors: Schwindt, Oliver, Kim, James, Chakraborty, Bhavana, Buckner, Kevin, Ignaczak, Brad
• Primary Examiner(s): Shaawat, Mussa A
• Assistant Examiner(s): BERNS, MICHAEL ANDREW
• Application Number:
  US14/529,983
• Publication Number:
  US 20150183430A1
• Time in Patent Office: 655 Days
• Field of Search: 701/23
• US Class Current: 1/1
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• 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 2555/00 Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
• CPC Class Codes: B60W 2710/202 Steering torque
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/12 Lane keeping

Abstract

A lane departure monitoring system uses a forward sensor to determine a lane position of a host vehicle and to detect oncoming vehicles. Rear side sensors monitor the side blind-spots of the host vehicle as well as vehicles in the adjacent lanes that are approaching from the rear. A control system combines the information provided by these sensors and runs integrated programs to carry out a method for providing lane keeping assist and lane departure warnings.

Claims

1. A lane departure monitoring system comprising:

a first sensor positionable on a host vehicle with a field of view that includes a plurality of lane markings;

a second sensor positionable on the host vehicle with a field of view that includes at least a portion of a side blind-spot of the host vehicle; and

a control system including at least one processor and one memory, the memory storing instructions that, when executed by the processor, cause the control system to

receive a first signal from the first sensor indicative of a position of the lane markings relative to the host vehicle,

determine, based at least in part on the first signal, whether the host vehicle is likely to cross a lane boundary,

determine based on a second signal from the second sensor, whether a second vehicle is present in a lane adjacent to the host vehicle,

determine whether the second vehicle is a fast approaching vehicle based at least in part on the second signal,

output an action signal at a first time when the host vehicle is likely to cross a lane boundary and the second vehicle is determined to be a fast approaching vehicle,

output the action signal at a later time when the control system determines that the host vehicle is likely to cross a lane boundary and the second vehicle is determined to not be a fast approaching vehicle,

wherein the action signal generates a lane departure warning for a user by generating an audible, visual, or haptic alert.

2. The system of claim 1, wherein the first sensor includes a forward-facing video camera and the second sensor includes a radar sensor.

3. The system of claim 1, wherein the instructions, when executed by the processor, further cause the control system to determine an estimated lane exit time indicative of a period of time until the host vehicle will likely cross a lane boundary,

wherein the instructions, when executed by the processor, cause the control system to output the action signal at the first time by comparing the estimated lane exit time to a first time threshold and outputting the action signal when the estimated lane exit time is less than the first time threshold,

wherein the instructions, when executed by the processor, cause the control system to output the action signal at the later time by comparing the estimated lane exit time to a second time threshold and outputting the action signal when the estimated lane exit time is less than the second time threshold, and

wherein the second time threshold is less than the first time threshold.

4. The system of claim 3, wherein the instructions, when executed by the processor, further cause the control system to determine the estimated lane exit time based on the first sensor and a direction sensor.

5. The system of claim 1, wherein the instructions, when executed by the processor, further cause the control system to

determine a speed of the second vehicle based on the second signal,

determine a distance to the second vehicle based on the second signal, and

determine an estimated time-to-collision of the host vehicle with the second vehicle based on the speed and the distance.

6. The system of claim 5, wherein the instructions, when executed by the processor, cause the control system to determine that the second vehicle is a fast approaching vehicle when the estimated time-to-collision is below a first collision time threshold.

7. The system of claim 6, wherein the instructions, when executed by the processor, further cause the control system to determine that the second vehicle is a slow approaching vehicle when the estimated time-to-collision is above a second collision time threshold, and

wherein the instructions, when executed by the processor, cause the control system to output the action signal at the later time by outputting the action signal at the later time when the host vehicle is likely to cross a lane boundary and the second vehicle is determined to be a slow approaching vehicle.

8. The system of claim 6, wherein the instructions, when executed by the processor, further cause the control system to determine that the second vehicle is a stagnating blind-spot vehicle when the second signal indicates that the second vehicle is present in the adjacent lane and that there is no immediate collision risk, and

wherein the instructions, when executed by the processor, cause the control system to output the action signal at the later time by outputting the action signal at the later time when the host vehicle is likely to cross a lane boundary and the second vehicle is determined to be a stagnating blind-spot vehicle.

9. The system of claim 6, wherein the instructions, when executed by the processor, cause the control system to output the action signal at the later time by outputting the action signal at the later time when the host vehicle is likely to cross a lane boundary and the control system determines that there is no vehicle in the adjacent lane.

10. The system of claim 1, wherein the instructions, when executed by the processor, further cause the control system to

determine whether the second vehicle is a slow approaching vehicle based on the second signal;

determine whether the second vehicle is a stagnating blind-spot vehicle based on the second signal, the stagnating blind-spot vehicle being located at least partially in a side blind-spot of the host vehicle;

output the action signal at a second time when the host vehicle is likely to cross a lane boundary and the second vehicle is the slow approaching vehicle, wherein the second time is later than the first time; and

output the action signal at a third time when the host vehicle is likely to cross a lane boundary and the second vehicle is the stagnating blind-spot vehicle, wherein the third time is later than the second time,

wherein the instructions, when executed by the processor, further cause the control system to output the action signal at the later time by outputting the action signal at a fourth time when the host vehicle is likely to cross a lane boundary and the control system determines that there is no vehicle in the adjacent lane, wherein the later time is later than the third time.

11. The system of claim 1, wherein the instructions, when executed by the processor, further cause the control system to determine an estimated lane exit distance indicative of a distance in a direction of travel that the host vehicle will likely cross a lane boundary,

wherein the instructions, when executed by the processor, cause the control system to output the action signal at the first time by comparing the estimated lane exit distance to a first distance threshold and outputting the action signal when the estimated lane exit distance is less than the first distance threshold,

wherein the instructions, when executed by the processor, cause the control system to output the action signal at the later time by comparing the estimated lane exit distance to a second distance threshold and outputting the action signal when the estimated lane exit distance is less than the second distance threshold, and

wherein the second distance threshold is less than the first distance threshold.

12. The system of claim 1, wherein the control system is further configured to:

determine whether a third vehicle is present in an adjacent lane to the host vehicle based on the first signal;

determine whether the third vehicle is approaching the host vehicle based on the first signal;

determine a distance between the third vehicle and the host vehicle;

determine a speed of the third vehicle; and

determine a time-to-collision between the host vehicle and the third vehicle based on the distance and the speed,

wherein the instructions, when executed by the processor, cause the control system to output the action signal at the first time when the host vehicle is likely to cross a lane boundary and the third vehicle is determined to be present and approaching.

13. The system of claim 1, wherein the control system is configured to activate a lane keeping support system in response to the action signal, wherein the lane keeping support system adjusts the operation of the host vehicle to prevent the host vehicle from crossing a lane boundary.

14. The system of claim 1, wherein the control system further includes an electronic control unit, a right rear sensor controller communicably coupled to the electronic control unit, and a left rear sensor controller communicably coupled to the electronic control unit, and wherein the right rear sensor controller is configured to

detect the second vehicle operating in a right-side blind-spot of the host vehicle,

transmit a blind-spot detection signal to the electronic control unit in response to detecting the second vehicle operating in the right-side blind-spot,

determine a speed of the second vehicle relative to the host vehicle;

determine a distance between the second vehicle and the host vehicle;

determine an estimated time-to-collision between the host vehicle and the second vehicle based on the speed and distance; and

transmit the estimated time-to-collision to the electronic control unit.

15. A lane departure monitoring method comprising:

positioning a first sensor on a host vehicle with a field of view that includes a plurality of lane markings;

positioning a second sensor on the host vehicle with a field of view that includes at least a portion of a side blind-spot of the host vehicle;

receiving a first signal from the first sensor indicative of a position of the lane markings relative to the host vehicle;

determining, based at least in part on the first signal, whether the host vehicle is likely to cross a lane boundary;

determining based on a second signal from the second sensor, whether a second vehicle is present in a lane adjacent to the host vehicle;

determining whether the second vehicle is a fast approaching vehicle based at least in part on the second signal,

outputting an action signal at a first time when the host vehicle is likely to cross a lane boundary and the second vehicle is determined to be a fast approaching vehicle;

outputting the action signal at a later time when the host vehicle is likely to cross a lane boundary and the second vehicle is determined to not be a fast approaching vehicle,

wherein the action signal generates a lane departure warning for a user by generating an audible, visual, or haptic alert.

16. The method of claim 15, further comprising:

determining an estimated lane exit time indicative of a period of time until the host vehicle will likely cross a lane boundary,

wherein outputting the action signal at the first time is performed by comparing the estimated lane exit time to a first time threshold and outputting the action signal when the estimated lane exit time is less than the first time threshold,

wherein outputting the action signal at the later time is performed by comparing the estimated lane exit time to a second time threshold and outputting the action signal when the estimated lane exit time is less than the second time threshold, and

wherein the second time threshold is less than the first time threshold.

17. The method of claim 15, further comprising:

activating a lane keeping support system in response to the action signal, wherein the lane keeping support system adjusts the operation of the host vehicle to prevent the host vehicle from crossing a lane boundary.