Collision mitigation systems with adjustable trigger width

• US 9,576,492 B2
• Filed: 05/21/2013
• Issued: 02/21/2017
• Est. Priority Date: 05/21/2013
• Status: Active Grant

• Current Assignee: Arriver Software AB (Qualcomm, Inc.)
• Original Assignee: Autoliv AB (Autoliv Incorporated)
• Inventors: Rosen, Erik, Nilsson, Benny
• Primary Examiner(s): Melton, Todd
• Application Number:
  US14/891,801
• Publication Number:
  US 20160125738A1
• Time in Patent Office: 1,372 Days
• US Class Current: 1/1
• CPC Class Codes: B60Q 5/006 indicating risk of collision between vehicles or with pedestrians
• 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: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A vehicle collision mitigation system (2) and method having a detecting device (3) and a control unit (4). The detecting device (3) being arranged to detect a certain field of view (6) defining a trigger area having an adjustable trigger width that is defined by trigger borders (9a, 9b; 10a, 10b) and is adjustable between a minimum trigger width (w_min) and a maximum trigger width (w_max). The collision mitigation system (2) is arranged to issue a system trigger signal at least in dependence of an object being determined to at least partly being present within the trigger borders if a collision is predicted to occur. The adjustable trigger width (w) is adjustable in dependence of the number of system trigger signals that have been issued during a certain time period.

Claims

1. A vehicle collision mitigation system comprising a detecting device and a control unit, the detecting device being arranged to detect a certain field of view, the field of view including a trigger area having an adjustable trigger width that is defined by a plurality of trigger borders, where the adjustable trigger width is adjustable by the control unit between a minimum trigger width and a maximum trigger width, where the collision mitigation system is arranged to issue a system trigger signal at least in dependence of an object being determined to at least partly being present within the trigger borders, wherein the adjustable trigger width is adjustable in dependence of the number of system trigger signals that have been issued during a certain time period.

2. A vehicle collision mitigation system according to claim 1, further comprising in that the system trigger signal is arranged to cause one or more of the following actions to be taken:

an automatic braking,

an automatic horn signal, and

a warning signals in the vehicle, in the form of at least one of an acoustic signal, a visual signal, and a tactile signal.

3. A vehicle collision mitigation system according to claim 1 further comprising in that the collision mitigation system is arranged to issue the system trigger signal if each of the following conditions are fulfilled:

a collision is predicted to occur;

a predicted time to collision, is less than a maximum time to collision,

at least a part of the object is within the trigger area; and

insufficient, limited or no driver action has occurred.

4. A vehicle collision mitigation system according to claim 1 further comprising in that the vehicle collision mitigation system is arranged to maintain a desired trigger rate by adapting the adjustable trigger width based on the vehicle'"'"'s total driving time as well as the number and timing of earlier system trigger signals according to:

w(t_tot>

t_n)=f(t_tot,t₁,t₂, . . . ,t_n),

where w is the adjustable trigger width,

t_i is the timing of the i;

th trigger signal,

n is the total number of trigger signals at the total driving time,

t_tot is the total driving time, and

f is a pre-determined, multi-variable function that depends on the timing of previous trigger signals and the total driving time.

5. A vehicle collision mitigation system according to claim 1 further comprising in that the vehicle collision mitigation system is arranged to maintain a desired trigger rate by adapting the adjustable trigger width based on a predetermined maximum past time period as well as the number and timing of earlier trigger signals, the maximum past time period being equal to the desired time between each trigger signal, the adjustable trigger width being adjusted according to:

w(t_tot>

t_n)=w_prev+g(t_tot,t_p,t_p+1, . . . ,t_n),

where w is the adjustable trigger width,

w_prev is the value of the adjustable trigger width, w, at the latest update,

t_i is the timing of the i;

th trigger signal occasion,

p is the first trigger signal during the maximum past time period,

t_tot is the total driving time and g is a pre-determined, multi-variable function that depends on the timing of all previous trigger signals that occurred in the maximum past time period and the total driving time.

6. A vehicle collision mitigation system according to claim 1 further comprising in that the collision mitigation system also is arranged to issue a system trigger signal in dependence of at least one of the following further parameters:

an estimated time or distance to collision with an object, and

a lateral distance to an object measured in either time or distance, where the further parameters are adjustable in dependence of the number of system trigger signals that have been issued during a certain time period.

7. A vehicle collision mitigation system according to claim 1, further comprising wherein the trigger borders are defined by lines parallel with the longitudinal symmetry line of the vehicle and the adjustable trigger width is the distance between the trigger borders.

8. A method for a vehicle collision mitigation system, the method comprising the step:

detecting a certain field of view, determining an adjustable trigger width being defined by trigger borders within the field of view, where the adjustable trigger width is adjustable between a minimum trigger width and a maximum trigger width,

adjusting the trigger width in dependence of the number of system trigger signals that have been issued during a certain time period, each system trigger signal being issued at least in dependence of an object being determined to at least partly being present within the trigger borders.

9. A method according to claim 8, in that the method further comprises the step of maintaining a desired trigger rate by adapting the adjustable trigger width based on the vehicle'"'"'s total driving time as well as the number and timing of earlier trigger signals according to:

w(t_tot>

t_n)=f(t_tot,t₁,t₂, . . . ,t_n),

where w is the adjustable trigger width,

t_i is the timing of the i;

th trigger signal,

n is the total number of trigger signals at the total driving time,

t_tot is the total driving time, and

f is a pre-determined, multi-variable function that depends on the timing of previous trigger signals and the total driving time.

10. A method according to claim 8, in that the method further comprises the step of maintaining a desired trigger rate by adapting the adjustable trigger width based on a predetermined maximum past time period as well as the number and timing of earlier trigger occasions signals, the maximum past time period being equal to the desired time between each trigger occasion signals, the adjustable trigger width being adjusted according to:

w(t_tot>

t_n)=w_prev+g(t_tot,t_p,t_p+1, . . . ,t_n),

where w is the adjustable trigger width,

w_prev is the value of the adjustable trigger width, w, at the latest update,

t_i is the timing of the i;

th trigger signal,

p is the first trigger signal during the maximum past time period,

t_tot is the total driving time, and

g is a pre-determined, multi-variable function that depends on the timing of all previous trigger signals that occurred in the maximum past time period and the total driving time.

11. A method according to claim 8, in that the method further comprises the step of issuing a system trigger signal in dependence of at least one of the following further parameters

estimated time or distance to collision with an object, and

a lateral distance to an object measured in either time or distance, where the further parameters are adjustable in dependence of the number of system trigger signals that have been issued during a certain time period.

12. A method for a vehicle collision mitigation system according to claim 8, further comprising wherein the trigger borders are defined by lines parallel with the longitudinal symmetry line of the vehicle and the adjustable trigger width is the distance between the trigger borders.