Autonomous braking failure management in pedestrian protection

• US 9,925,979 B2
• Filed: 06/06/2016
• Issued: 03/27/2018
• Est. Priority Date: 06/06/2016
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Deshpande, Anup
• Primary Examiner(s): Tran, Dalena
• Application Number:
  US15/173,822
• Publication Number:
  US 20170349169A1
• Time in Patent Office: 659 Days
• Field of Search: 701 41, 701 36, 701 45, 340961, 340988, 3406866
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• 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 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2540/12 Brake pedal position
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A collision avoidance system and method for a vehicle. The system includes a video camera and a distance sensor. The system includes a driver control, a vehicle control system, and a controller. The controller is communicatively coupled to the video camera, the distance sensor, the driver control, and the vehicle control system. The controller receives a first signal from the video camera indicative of the presence of the pedestrian and receives a second signal from the distance sensor indicative of the presence of the pedestrian. The controller determines a course deviation from a current path of travel of the vehicle and activates a timer. The controller resets the timer when the driver control receives an input from the driver that is above a threshold. When the driver input is below the threshold and the timer expires, the controller applies the course deviation using the vehicle control system.

Claims

1. A collision avoidance system for a vehicle, the collision avoidance system comprising:

a video camera configured to detect a presence of a pedestrian;

a distance sensor configured to detect the presence of the pedestrian;

a driver control configured to receive an input from a driver;

a vehicle control system configured to automatically maneuver the vehicle; and

a controller including an electronic processor, the controller communicatively coupled to the video camera, the distance sensor, the driver control, and the vehicle control system, the controller configured to

receive a first signal from the video camera indicative of the presence of the pedestrian,

receive a second signal from the distance sensor indicative of the presence of the pedestrian,

when the presence of the pedestrian is detected by both the video camera and the distance sensor, determine a course deviation from a current path of travel of the vehicle and activate a timer, wherein the timer is activated after the presence of the pedestrian is detected,

when the driver control receives an input from the driver that is above a threshold, reset the timer, and

when the driver input is below the threshold and the timer expires, apply the course deviation using the vehicle control system.

2. The collision avoidance system of claim 1, wherein the distance sensor is a radar or lidar sensor that is configured to sense the pedestrian within a narrower field of view than a field of view of the video camera.

3. The collision avoidance system of claim 1, wherein the driver control includes at least one from the group consisting of a steering angle sensor, a throttle position sensor, and a brake sensor.

4. The collision avoidance system of claim 1, wherein the vehicle control system includes a braking actuator and a steering controller.

5. The collision avoidance system of claim 1, wherein the controller is further configured to confirm the presence of the pedestrian based on the second signal before applying the course deviation.

6. The collision avoidance system of claim 1, wherein the controller is further configured to send a notification signal via an input/output interface indicating the presence of the pedestrian when the presence of the pedestrian is detected by the video camera and when there is a probability of collision with the pedestrian above another threshold.

7. The collision avoidance system of claim 1, wherein the controller is further configured to determine the course deviation from the current path of travel of the vehicle by determining a velocity of the pedestrian, a velocity of the vehicle, and a steering angle adjustment factor indicative of an angle of steering change that will result in the vehicle avoiding the pedestrian.

8. The collision avoidance system of claim 1, wherein the controller is further configured to detect the presence of the pedestrian and send a notification to an indicator indicative of the presence of the pedestrian in a first time period, to detect the presence of the pedestrian by both the video camera and the distance sensor and determine the course deviation in a second time period, and to apply the course deviation in a third time period.

9. The collision avoidance system of claim 8, wherein the controller is further configured to activate a brake prefill via the vehicle control system during the second time period.

10. The collision avoidance system of claim 1, wherein the controller is configured to apply the course deviation by using differential braking via the vehicle control system.

11. A method of performing collision avoidance for a vehicle, the method comprising:

receiving, at a controller, a first signal from a video camera indicative of a presence of a pedestrian,

receiving, at the controller, a second signal from a distance sensor indicative of the presence of the pedestrian,

when the presence of the pedestrian is detected by both the video camera and the distance sensor, determining, at the controller, a course deviation from a current path of travel of the vehicle and activate a timer, wherein the timer is activated after the presence of the pedestrian is detected by both the video camera and the distance sensor,

when a driver control receives an input from the driver that is above a threshold, resetting the timer, and

when the driver input is below the threshold and the timer expires, applying the course deviation using a vehicle control system.

12. The method of performing collision avoidance according to claim 11, wherein receiving the first signal occurs before receiving the second signal.

13. The method of performing collision avoidance according to claim 11, wherein receiving the input from the driver that is above a threshold includes at least one from the group consisting of receiving a steering angle signal that is above a steering angle threshold, receiving a braking signal that is above a braking threshold, and receiving a throttle signal that is above a throttle position threshold.

14. The method of performing collision avoidance according to claim 11, wherein applying the course deviation using the vehicle control system includes at least one from the group consisting of automatically applying a braking actuator and automatically applying a steering angle adjustment.

15. The method of performing collision avoidance according to claim 11, wherein applying the course deviation only occurs when both the first signal and the second signal still indicate the presence of the pedestrian when the timer expires.

16. The method of performing collision avoidance according to claim 11, the method further comprising sending a notification signal via an output interface indicating the presence of the pedestrian when the presence of the pedestrian is detected by the video camera and when there is a probability of collision with the pedestrian above another threshold.

17. The method of performing collision avoidance according to claim 11, wherein determining the course deviation from the current path of travel of the vehicle includes determining a velocity of the pedestrian, a velocity of the vehicle, and a steering angle adjustment factor indicative of an angle of steering change that will result in the vehicle avoiding the pedestrian.

18. The method of performing collision avoidance according to claim 11, the method further comprising detecting the presence of the pedestrian and sending a notification to an indicator in a first of time period, detecting the presence of the pedestrian by both the video camera and the distance sensor and determining the course deviation in a second time period, and applying the course deviation in a third time period.

19. The method of performing collision avoidance according to claim 18, the method further comprising activating a brake prefill via a vehicle control system during the second time period.

20. The method of performing collision avoidance according to claim 11, wherein applying the course deviation includes using differential braking via a vehicle control system.

21. A collision avoidance system for a vehicle, the collision avoidance system comprising:

a sensor configured to detect a presence of a pedestrian;

a driver control configured to receive an input from a driver;

a vehicle control system configured to automatically maneuver the vehicle; and

a controller including an electronic processor, the controller communicatively coupled to the sensor, the driver control, and the vehicle control system, the controller configured to

receive a signal from the sensor indicative of the presence of the pedestrian,

determine a probability of collision between the pedestrian and the vehicle;

when the probability of collision is greater than a threshold, determine a course deviation from a current path of travel of the vehicle and activate a timer, wherein the timer is activated after determining a probability of collision between the pedestrian and the vehicle,

when the driver control receives an input from the driver that is above another threshold, reset the timer, and

when the driver input is below the threshold and the timer expires, apply the course deviation using the vehicle control system.