Determining a driver alert level for a vehicle alert system and method of use

• US 9,487,139 B1
• Filed: 05/15/2015
• Issued: 11/08/2016
• Est. Priority Date: 05/15/2015
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Ishida, Takahisa, Yerkes, Justin
• Primary Examiner(s): Hofsass, Jeffery
• Application Number:
  US14/712,948
• Publication Number:
  US 20160332569A1
• Time in Patent Office: 543 Days
• Field of Search: 340/435, 340/436, 340/903, 701/1, 701/301
• US Class Current: 1/1
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2050/146 Display 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 2510/0604 Throttle position
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/20 Static objects
• CPC Class Codes: B60W 2554/4026 Cycles
• CPC Class Codes: B60W 2554/4029 Pedestrians
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative 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: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B60W 50/16 Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal

Abstract

A driver alert system for a vehicle and a method for operating the driver alert system are disclosed. The driver alert system for the vehicle includes an alert system triggering event detection module for detecting a driver alert system triggering event. The alert system triggering event detection module includes at least one of a steering event detection module for detecting a steering event, a blind spot detection module for detecting a blind spot event, and a front collision warning event detection module for detecting a front collision warning event. The driver alert system for the vehicle includes a driver alert level determination module for determining a driver alert level for the driver alert system triggering event. The driver alert system also includes a driver alert module for alerting the driver of the vehicle using a driver alert device based on the driver alert.

Claims

1. A method for operating a driver alert system for a vehicle, the method comprising:

detecting a driver alert system triggering event, wherein the driver alert system triggering event is at least one of a steering event, a blind spot event, and a front collision warning event;

determining a driver alert level for the driver alert system triggering event;

alerting a driver of the vehicle using a driver alert device based on the driver alert level;

determining a type of the steering event, wherein the type of steering event is at least one of a straight driving event, a turn event, and a lane change event;

detecting a direction of the steering event;

determining a path of the vehicle; and

detecting an obstacle in the path of the vehicle, wherein the driver alert level is based on a relative velocity of the obstacle.

2. The method of claim 1, wherein the driver alert system triggering event is detected using at least one of a steering input sensor, a camera, and a radar unit;

wherein the steering event type is determined based on a value of an output of the steering input sensor measured a predetermined length of time after the driver alert system triggering event, wherein the predetermined length of time is determined by a speed of the vehicle at the driver alert system triggering event; and

wherein the obstacle is at least one of a vehicle, a bicycle, and a human.

3. The method of claim 2, wherein the predetermined length of time after the driver alert system triggering event increases as the speed of the vehicle at the driver alert system triggering event increases,

wherein the predetermined length of time is equal to a first predetermined length of time, when the speed of the vehicle at the driver alert system triggering event is within a first speed range;

the predetermined length of time is equal to a second predetermined length of time, when the speed of the vehicle at the driver alert system triggering event is within a second speed range;

the predetermined length of time is equal to a third predetermined length of time, when the speed of the vehicle at the driver alert system triggering event is within a third speed range; and

the predetermined length of time is equal to a fourth predetermined length of time, when the speed of the vehicle at the driver alert system triggering event is within a fourth speed range;

wherein the output of the steering input sensor is a steering wheel angular velocity of a steering wheel of the vehicle;

wherein the steering event type is the straight driving event, when the speed of the vehicle at the driver alert system triggering event is within the first predetermined vehicle speed range and the steering wheel angular velocity is within a first predetermined steering wheel angular velocity range;

the steering event type is the lane change event, when the speed of the vehicle at the driver alert system triggering event is within the first predetermined vehicle speed range and the steering wheel angular velocity is within a second predetermined steering wheel angular velocity range;

the steering event type is the turn event, when the speed of the vehicle at the driver alert system triggering event is within the first predetermined vehicle speed range and the steering wheel angular velocity is within a third predetermined steering wheel angular velocity range;

wherein the steering event type is the straight driving event, when the speed of the vehicle at the driver alert system triggering event is within the second predetermined vehicle speed range and the steering wheel angular velocity is within a fourth predetermined steering wheel angular velocity range;

the steering event type is the lane change event, when the speed of the vehicle at the driver alert system triggering event is within the second predetermined vehicle speed range and the steering wheel angular velocity is within a fifth predetermined steering wheel angular velocity range;

the steering event type is a turn event, when the speed of the vehicle at the driver alert system triggering event is within the second predetermined vehicle speed range and the steering wheel angular velocity is within a sixth predetermined steering wheel angular velocity range;

wherein the steering event type is the straight driving event, when the speed of the vehicle at the driver alert system triggering event is within the third predetermined vehicle speed range and the steering wheel angular velocity is within a seventh predetermined steering wheel angular velocity range;

the steering event type is the lane change event, when the speed of the vehicle at the driver alert system triggering event is within the second predetermined vehicle speed range and the steering wheel angular velocity is within an eighth predetermined steering wheel angular velocity range;

the steering event type is the turn event, when the speed of the vehicle at the driver alert system triggering event is within the third predetermined vehicle speed range and the steering wheel angular velocity is within a ninth predetermined steering wheel angular velocity range; and

wherein the steering event type is the straight driving event, when the speed of the vehicle at the driver alert system triggering event is within the fourth predetermined vehicle speed range and the steering wheel angular velocity is within a tenth predetermined steering wheel angular velocity range;

the steering event type is the lane change event, when the speed of the vehicle at the driver alert system triggering event is within the fourth predetermined vehicle speed range and the steering wheel angular velocity is within an eleventh predetermined steering wheel angular velocity range.

4. The method of claim 3, wherein the first predetermined length of time is about one second and the first predetermined vehicle speed range includes speed values that are both greater than or equal to about 10 kph and less than or equal to about 20 kph;

the second predetermined length of time is about 0.8 seconds and the second predetermined vehicle speed range includes speed values that are both greater than or equal to about 21 kph and less than or equal to about 35 kph;

the third predetermined length of time is about 0.5 seconds and the third predetermined vehicle speed range includes speed values that are both greater than or equal to about 36 kph and less than or equal to about 55 kph; and

the fourth predetermined length of time is about 0.2 seconds and fourth predetermined vehicle speed range includes speed values that are greater than or equal to about 56 kph;

wherein the first predetermined steering wheel angular velocity range is steering wheel angular velocity values that are less than or equal to about 6 deg/s, the second predetermined steering wheel angular velocity range includes steering wheel angular velocity values that are both greater than or equal to about 7 deg/s and less than or equal to about 70 deg/s, the third predetermined steering wheel angular velocity range includes steering wheel angular velocity values that are greater than or equal to about 71 deg/s, the fourth predetermined steering wheel angular velocity range includes steering wheel angular velocity values that are less than or equal to about 6 deg/s, the fifth predetermined steering wheel angular velocity range includes steering wheel angular velocity values that are both greater than or equal to about 7 deg/s and less than or equal to about 50 deg/s, the sixth predetermined steering wheel angular velocity range includes steering wheel angular velocity values that are greater than or equal to 51 deg/s, the seventh predetermined steering wheel angular velocity range includes steering wheel angular velocity values that are less than or equal to about 6 deg/s, the eighth predetermined steering wheel angular velocity range includes steering wheel angular velocity values that are both greater than or equal to about 7 deg/s and less than or equal to about 30 deg/s, the ninth predetermined steering wheel angular velocity range includes steering wheel angular velocity values that are greater than or equal to about 31 deg/s, the tenth predetermined steering wheel angular velocity range includes steering angle values that are less than or equal to about 10 deg/s, and the eleventh predetermined steering wheel angular velocity range includes steering angle values that are greater than or equal to about 11 deg/s.

5. The method of claim 1, wherein the output of the steering input sensor is at least one of a steering wheel angular velocity of a steering wheel of the vehicle and a torque applied to the steering wheel of the vehicle;

wherein the steering event occurs when the steering wheel angular velocity is greater than or equal to a steering wheel angular velocity steering event threshold, and the torque applied to the steering wheel of the vehicle is greater than or equal to a steering wheel torque steering event threshold;

wherein determining the driver alert level includes;

calculating a driver alert level value, and

comparing the driver alert level value to a predetermined driver alert threshold value;

wherein the driver alert level value is calculated using at least one of a range of the obstacle and the relative velocity of the obstacle;

wherein the driver alert level is low, when the driver alert value exceeds the predetermined alert threshold, and the driver alert level is high, when the driver alert value is less than or equal to the predetermined alert threshold;

wherein the steering wheel angular velocity steering event threshold is 10 deg/s and the steering wheel torque steering event threshold is 1 Nm.

6. The method of claim 1, wherein the driver alert device produces at least one of a visual alert device, an audio alert device, and a tactile alert device.

7. The method of claim 6, wherein the visual alert device is a display having a border and a size, wherein a color of the border is determined by the driver alert level and the size of the display is determined by an intent of a driver to move the vehicle into a lane shown in the display;

wherein the audio alert device is at least one of a speaker for producing an audio alert in the vehicle, the audio alert having at least one of a location, a duration, and an intensity, wherein the at least one of the duration, the location, and the intensity of the audio alert varies based on the driver alert level and the location of the obstacle; and

wherein the tactile alert device is a steering wheel vibrator for vibrating the steering wheel of the vehicle.

8. A non-transitory computer readable storage medium storing executable code for a driver alert system for a vehicle, the code when executed by a processor performs actions comprising:

detecting a driver alert system triggering event, wherein the driver alert system triggering event is at least one of a steering event, a blind spot event, and a front collision warning event;

determining a driver alert level for the driver alert system triggering event;

alerting a driver of the vehicle using a driver alert device based on the driver alert level;

determining a type of the steering event, wherein the type of steering event includes at least one of a straight driving event, a turn event, and a lane change event;

detecting a direction of the steering event;

determining a path of the vehicle; and

detecting an obstacle in the path of the vehicle, wherein the driver alert level is based on a relative velocity of the obstacle.

9. The non-transitory computer-readable storage medium of claim 8, wherein the driver alert system triggering event is detected using at least one of a steering input sensor, a camera, and a radar unit,

wherein the steering event type is determined based on a value of an output of the steering input sensor measured a predetermined length of time after the driver alert system triggering event, wherein the predetermined length of time is determined by a speed of the vehicle at the driver alert system triggering event;

and

wherein the obstacle includes at least one of a vehicle, a bicycle, and a human.

10. The non-transitory computer-readable storage medium of claim 9, wherein the predetermined length of time after the driver alert system triggering event increases as the speed of the vehicle at the driver alert system triggering event increases,

wherein the predetermined length of time is equal to a first predetermined length of time, when the speed of the vehicle at the driver alert system triggering event is within a first speed range;

the predetermined length of time is equal to a second predetermined length of time, when the speed of the vehicle at the driver alert system triggering event is within a second speed range;

the predetermined length of time is equal to a third predetermined length of time, when the speed of the vehicle at the driver alert system triggering event is within a third speed range; and

the predetermined length of time is equal to a fourth predetermined length of time, when the speed of the vehicle at the driver alert system triggering event is within a fourth speed range;

wherein the output of the steering input sensor is a steering wheel angular velocity of a steering wheel of the vehicle;

wherein the steering event type is the straight driving event, when the speed of the vehicle at the driver alert system triggering event is within the first predetermined vehicle speed range and the steering wheel angular velocity is within a first predetermined steering wheel angular velocity range;

the steering event type is the lane change event, when the speed of the vehicle at the driver alert system triggering event is within the first predetermined vehicle speed range and the steering wheel angular velocity is within a second predetermined steering wheel angular velocity range;

the steering event type is the turn event, when the speed of the vehicle at the driver alert system triggering event is within the first predetermined vehicle speed range and the steering wheel angular velocity is within a third predetermined steering wheel angular velocity range;

wherein the steering event type is the straight driving event, when the speed of the vehicle at the driver alert system triggering event is within the second predetermined vehicle speed range and the steering wheel angular velocity is within a fourth predetermined steering wheel angular velocity range;

the steering event type is the lane change event, when the speed of the vehicle at the driver alert system triggering event is within the second predetermined vehicle speed range and the steering wheel angular velocity is within a fifth predetermined steering wheel angular velocity range;

the steering event type is a turn event, when the speed of the vehicle at the driver alert system triggering event is within the second predetermined vehicle speed range and the steering wheel angular velocity is within a sixth predetermined steering wheel angular velocity range;

wherein the steering event type is the straight driving event, when the speed of the vehicle at the driver alert system triggering event is within the third predetermined vehicle speed range and the steering wheel angular velocity is within a seventh predetermined steering wheel angular velocity range;

the steering event type is the lane change event, when the speed of the vehicle at the driver alert system triggering event is within the second predetermined vehicle speed range and the steering wheel angular velocity is within an eighth predetermined steering wheel angular velocity range;

the steering event type is the turn event, when the speed of the vehicle at the driver alert system triggering event is within the third predetermined vehicle speed range and the steering wheel angular velocity is within a ninth predetermined steering wheel angular velocity range; and

wherein the steering event type is the straight driving event, when the speed of the vehicle at the driver alert system triggering event is within the fourth predetermined vehicle speed range and the steering wheel angular velocity is within a tenth predetermined steering wheel angular velocity range;

the steering event type is the lane change event, when the speed of the vehicle at the driver alert system triggering event is within the fourth predetermined vehicle speed range and the steering wheel angular velocity is within an eleventh predetermined steering wheel angular velocity range.

11. The non-transitory computer-readable storage medium of claim 10, wherein the first predetermined length of time is about one second and the first predetermined vehicle speed range includes speed values that are both greater than or equal to about 10 kph and less than or equal to about 20 kph;

the second predetermined length of time is about 0.8 seconds and the second predetermined vehicle speed range includes speed values that are both greater than or equal to about 21 kph and less than or equal to about 35 kph;

the third predetermined length of time is about 0.5 seconds and the third predetermined vehicle speed range includes speed values that are both greater than or equal to about 36 kph and less than or equal to about 55 kph; and

the fourth predetermined length of time is about 0.2 seconds and fourth predetermined vehicle speed range includes speed values that are greater than or equal to about 56 kph;

wherein the first predetermined steering wheel angular velocity range is steering wheel angular velocity values that are less than or equal to about 6 deg/s, the second predetermined steering wheel angular velocity range includes steering wheel angular velocity values that are both greater than or equal to about 7 deg/s and less than or equal to about 70 deg/s, the third predetermined steering wheel angular velocity range includes steering wheel angular velocity values that are greater than or equal to about 71 deg/s, the fourth predetermined steering wheel angular velocity range includes steering wheel angular velocity values that are less than or equal to about 6 deg/s, the fifth predetermined steering wheel angular velocity range includes steering wheel angular velocity values that are both greater than or equal to about 7 deg/s and less than or equal to about 50 deg/s, the sixth predetermined steering wheel angular velocity range includes steering wheel angular velocity values that are greater than or equal to 51 deg/s, the seventh predetermined steering wheel angular velocity range includes steering wheel angular velocity values that are less than or equal to about 6 deg/s, the eighth predetermined steering wheel angular velocity range includes steering wheel angular velocity values that are both greater than or equal to about 7 deg/s and less than or equal to about 30 deg/s, the ninth predetermined steering wheel angular velocity range includes steering wheel angular velocity values that are greater than or equal to about 31 deg/s, the tenth predetermined steering wheel angular velocity range includes steering angle values that are less than or equal to about 10 deg/s, and the eleventh predetermined steering wheel angular velocity range includes steering angle values that are greater than or equal to about 11 deg/s.

12. The computer-readable storage medium of claim 8, wherein the output of the steering input sensor is at least one of a steering wheel angular velocity of a steering wheel of the vehicle and a torque applied to the steering wheel of the vehicle;

wherein the steering event occurs when the steering wheel angular velocity is greater than or equal to a steering wheel angular velocity steering event threshold, and the torque applied to the steering wheel of the vehicle is greater than or equal to a steering wheel torque steering event threshold;

wherein determining the driver alert level includes;

calculating a driver alert level value, and

comparing the driver alert level value to a predetermined driver alert threshold value;

wherein the driver alert level value is calculated using at least one of a range of the obstacle and the relative velocity of the obstacle;

wherein the driver alert level is low, when the driver alert value exceeds the predetermined alert threshold, and the driver alert level is high, when the driver alert value is less than or equal to the predetermined alert threshold;

wherein the steering wheel angular velocity steering event threshold is 10 deg/s and the steering wheel torque steering event threshold is 1 Nm.

13. The computer-readable storage medium of claim 8, wherein the driver alert device produces at least one of a visual alert device, an audio alert device, and a tactile alert device.

14. The computer readable storage medium of claim 13, wherein the visual alert device is a display having a border and a size, wherein a color of the border is determined by the driver alert level and the size of the display is determined by an intent of a driver to move the vehicle into a lane shown in the display;

wherein the audio alert device has at least one of a speaker for producing an audio alert in the vehicle, the audio alert having a location, a duration, and an intensity, wherein the at least one of the duration, the location, and the intensity of the audio alert varies based on the driver alert level and the location of the obstacle; and

wherein the tactile alert device is a steering wheel vibrator for vibrating the steering wheel of the vehicle.