Vehicle collision avoidance system with enhanced pedestrian avoidance

• US 9,925,980 B2
• Filed: 09/15/2015
• Issued: 03/27/2018
• Est. Priority Date: 09/17/2014
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Edo-Ros, Manuel
• Primary Examiner(s): Smith, Isaac G
• Application Number:
  US14/854,376
• Publication Number:
  US 20160075332A1
• Time in Patent Office: 924 Days
• Field of Search: 701 70, 701301
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 7/12 for automatic initiation; for initiation not subject to will of driver or passenger limiting speed of vehicles other than rail vehicles B60K31/00
• 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: B60T 8/17558 specially adapted for collision avoidance or collision mitigation road vehicle drive control systems for collision avoidance otherwise than by controlling a particular sub-unit B60W30/09
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2530/20 Tyre data
• CPC Class Codes: B60W 2552/05 Type of road, e.g. motorways, local streets, paved or unpaved roads
• CPC Class Codes: B60W 2555/20 Ambient conditions, e.g. wind or rain
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/0953 the prediction being responsive to vehicle dynamic parameters
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention

Abstract

A collision avoidance system of a vehicle includes a sensor configured to be disposed at a vehicle for sensing exterior and forwardly of the vehicle. A processor is operable to process sensor data captured by the sensor to determine the presence of a pedestrian ahead of the vehicle and at or moving towards a path of travel of the vehicle. The processor determines a time to collision based on a determined distance to the pedestrian and determined speed of the pedestrian and speed of the vehicle. The collision avoidance system is operable to generate an alert to the driver of the vehicle at a threshold time before the determined collision with the pedestrian. Responsive to a parameter, the collision avoidance system adjusts the threshold time to generate the alert at an earlier time.

Claims

1. A collision avoidance system of a vehicle, said collision avoidance system comprising:

a sensor configured to be disposed at a vehicle for sensing exterior and forwardly of the vehicle;

a processor operable to process sensor data captured by said sensor to determine the presence of a pedestrian who is ahead of the vehicle and is outside of a projected path of travel of the vehicle and is moving on a path of travel towards the projected path of travel of the vehicle;

wherein said processor, responsive to processing of sensor data captured by said sensor, determines an intersection point where the projected path of travel of the vehicle intersects the path of travel of the determined pedestrian;

wherein said processor, responsive to processing of sensor data captured by said sensor, determines a distance of the determined pedestrian to the intersection point and determines a moving speed of the determined pedestrian;

wherein said processor determines a vehicle time to intersection point, and wherein the determined vehicle time to intersection point is the time until the vehicle reaches the determined intersection point as determined based on the assumption that the vehicle will continue to move along its projected path of travel at the current speed of the vehicle;

wherein said processor determines where the pedestrian will be along the path of travel of the pedestrian when the vehicle time to intersection point elapses based on (i) the determined distance of the determined pedestrian to the intersection point, and (ii) the determined moving speed of the determined pedestrian, and wherein the determined location of the pedestrian along the path of travel of the pedestrian when the vehicle time to intersection point elapses is the location of the pedestrian as determined based on the assumption that the pedestrian will continue to move along the path of travel of the pedestrian at the determined moving speed of the pedestrian until the vehicle time to intersection point elapses;

wherein said processor determines a corridor of the projected path of travel of the vehicle that has a width that is wider than the vehicle width;

wherein, responsive to determination that the determined pedestrian will be within the corridor of the projected path of travel when the vehicle time to intersection point elapses, said collision avoidance system generates an alert to the driver of the vehicle;

wherein said collision avoidance system adjusts the width of the corridor responsive to a parameter indicative of a driving condition of the vehicle; and

wherein said parameter comprises at least one parameter selected from the group consisting of (i) a vehicle parameter pertaining to the current traction of the vehicle, (ii) an environment parameter pertaining to the environment in which the vehicle is traveling, (iii) a location parameter pertaining to the geographical current location of the vehicle, (iv) a location and time parameter pertaining to the current geographical location of the vehicle and a particular event time associated with that location and (v) a driver attentiveness parameter pertaining to a determined attentiveness of the driver of the vehicle.

2. The collision avoidance system of claim 1, wherein said parameter comprises a vehicle parameter pertaining to the current traction of the vehicle.

3. The collision avoidance system of claim 2, wherein said vehicle parameter includes at least one of tire wear, tire pressure, tire age, vehicle load, brake temperature, brake wear and tire slip.

4. The collision avoidance system of claim 1, wherein said parameter comprises an environment parameter pertaining to the environment in which the vehicle is traveling.

5. The collision avoidance system of claim 4, wherein said environment parameter includes at least one parameter selected from the group consisting of (i) an ambient temperature at the vehicle, (ii) a weather condition, (iii) the current date and (iv) the current season.

6. The collision avoidance system of claim 1, wherein said parameter comprises a location parameter pertaining to the current geographical location of the vehicle.

7. The collision avoidance system of claim 6, wherein said location parameter includes at least one parameter pertaining to the vehicle being at a location selected from the group consisting of (i) a highway location, (ii) an in city location, (iii) an out of city location, (iv) a residential location, (v) an off road location, (vi) a location close to a bus stop, (vii) a location close to a train station, (viii) a location within a pedestrian walking zone and (ix) a location at a play street.

8. The collision avoidance system of claim 1, wherein said parameter comprises a location and time parameter pertaining to the current geographical location of the vehicle and a particular event time associated with that location.

9. The collision avoidance system of claim 8, wherein said location and time parameter includes at least one parameter selected from the group consisting of (i) the vehicle is close to a stadium when an event just ended, (ii) the vehicle is close to a bus stop with the bus scheduled at that time, (iii) the vehicle is approaching a traffic jam that is at a full stop at that time and (iv) a fire alert in a building near to the current geographical location of the vehicle.

10. The collision avoidance system of claim 1, wherein said parameter comprises a driver attentiveness parameter pertaining to a determined attentiveness of the driver of the vehicle.

11. The collision avoidance system of claim 10, wherein said driver attentiveness parameter includes at least one parameter selected from the group consisting of (i) a determined attention level of the driver of the vehicle, (ii) a drowsiness level of the driver of the vehicle, (iii) a volume of music in the vehicle, (iv) a determination that the driver is using a cellphone in the vehicle and (v) a determination of at least one passenger in the vehicle.

12. The collision avoidance system of claim 1, wherein said collision avoidance system applies the brakes of the vehicle to reduce the vehicle speed responsive to a determination that the pedestrian, if the pedestrian continues to move at the determined moving speed, would, when the vehicle time to intersection point elapses, be within the corridor of the path of travel of the vehicle and closer to the side of the path of travel of the vehicle opposite from the side toward where the pedestrian is determined to be present.

13. The collision avoidance system of claim 1, wherein said collision avoidance system applies the brakes of the vehicle to stop the vehicle responsive to a determination that the pedestrian, if the pedestrian continues to move at the determined moving speed, would enter the corridor of the path of travel of the vehicle when or before the vehicle time to intersection point elapses and would be in the corridor of the path of travel of the vehicle when the vehicle time to intersection point elapses.

14. The collision avoidance system of claim 1, wherein said collision avoidance system generates a pedestrian alert to the pedestrian responsive to a determination that the pedestrian, if the pedestrian continues to move at the determined moving speed, would enter the corridor of the path of travel of the vehicle when or before the vehicle time to intersection point elapses and would be in the corridor of the path of travel of the vehicle when the vehicle time to intersection point elapses.

15. The collision avoidance system of claim 1, wherein said sensor comprises a camera operable to capture image data and wherein said processor comprises an image processor operable to process image data captured by said camera.

16. The collision avoidance system of claim 15, wherein said camera comprises a pixelated imaging array having a plurality of photosensing elements.

17. A collision avoidance system of a vehicle, said collision avoidance system comprising:

a camera configured to be disposed at a vehicle so as to have a field of view exterior and forwardly of the vehicle, said camera capturing image data;

wherein said camera comprises a pixelated imaging array having a plurality of photosensing elements;

an image processor operable to process image data captured by said camera to determine the presence of a pedestrian who is ahead of the vehicle and is outside of a projected path of travel of the vehicle and is moving along a path of travel towards the projected path of travel of the vehicle;

wherein said image processor, responsive to processing of image data captured by said camera, determines an intersection point where the projected path of travel of the vehicle intersects the path of travel of the determined pedestrian;

wherein said image processor, responsive to processing of image data captured by said camera, determines a distance of the determined pedestrian to the intersection point and determines a moving speed of the determined pedestrian;

wherein said image processor determines a vehicle time to intersection point, and wherein the determined vehicle time to intersection point is the time until the vehicle reaches the determined intersection point as determined based on the assumption that the vehicle will continue to move along its projected path of travel at the current speed of the vehicle;

wherein said processor determines where the pedestrian will be along the path of travel of the pedestrian when the vehicle time to intersection point elapses based on (i) the determined distance of the determined pedestrian to the intersection point, and (ii) the determined speed of the determined pedestrian, and wherein the determined location of the pedestrian along the path of travel of the pedestrian when the vehicle time to intersection point elapses is the location of the pedestrian as determined based on the assumption that the pedestrian will continue to move along the path of travel of the pedestrian at the determined moving speed of the pedestrian until the vehicle time to intersection point elapses;

wherein said processor determines a corridor of the projected path of travel of the vehicle that has a width that is wider than the vehicle width;

wherein, responsive to determination that the determined pedestrian will be within the corridor of the projected path of travel when the vehicle time to intersection point elapses, said collision avoidance system generates an alert to the driver of the vehicle;

wherein said collision avoidance system adjusts the width of the corridor responsive to a parameter indicative of a driving condition of the vehicle;

wherein said parameter comprises at least one parameter selected from the group consisting of (i) a vehicle parameter pertaining to the current traction of the vehicle, (ii) an environment parameter pertaining to the environment in which the vehicle is traveling, (iii) a location parameter pertaining to the geographical current location of the vehicle, (iv) a location and time parameter pertaining to the current geographical location of the vehicle and a particular event time associated with that location and (v) a driver attentiveness parameter pertaining to a determined attentiveness of the driver of the vehicle; and

wherein said collision avoidance system applies the brakes of the vehicle to reduce the vehicle speed responsive to a determination that the pedestrian, if the pedestrian continues to move at the determined moving speed, would, when the vehicle time to intersection point elapses, be in the corridor of the path of travel of the vehicle and closer to the side of the path of travel of the vehicle opposite from the side toward where the pedestrian is determined to be present.

18. The collision avoidance system of claim 17, wherein said parameter comprises a location and time parameter pertaining to the current geographical location of the vehicle and a particular event time associated with that location, and wherein said location and time parameter includes at least one parameter selected from the group consisting of (i) the vehicle is close to a stadium when a game just ended, (ii) the vehicle is close to a bus stop with the bus scheduled at that time, (iii) the vehicle is approaching a traffic jam that is at a full stop at that time and (iv) a fire alert in a building near to the current geographical location of the vehicle.

19. A collision avoidance system of a vehicle, said collision avoidance system comprising:

a camera configured to be disposed at a vehicle so as to have a field of view exterior and forwardly of the vehicle, said camera capturing image data;

wherein said camera comprises a pixelated imaging array having a plurality of photosensing elements;

an image processor operable to process image data captured by said camera to determine the presence of a pedestrian who is ahead of the vehicle and is outside of a projected path of travel of the vehicle and is moving along a path of travel towards the projected path of travel of the vehicle;

wherein said image processor, responsive to processing of image data captured by said camera, determines an intersection point where the projected path of travel of the vehicle intersects the path of travel of the determined pedestrian;

wherein said image processor, responsive to processing of image data captured by said camera, determines a distance of the determined pedestrian to the intersection point and determines a moving speed of the determined pedestrian;

wherein said image processor determines a vehicle time to intersection point, and wherein the determined vehicle time to intersection point is the time until the vehicle reaches the determined intersection point as determined based on the assumption that the vehicle will continue to move along its projected path of travel at the current speed of the vehicle;

wherein said processor determines where the pedestrian will be along the path of travel of the pedestrian when the vehicle time to intersection point elapses based on (i) the determined distance of the determined pedestrian to the intersection point, and (ii) the determined speed of the determined pedestrian, and wherein the determined location of the pedestrian along the path of travel of the pedestrian when the vehicle time to intersection point elapses is the location of the pedestrian as determined based on the assumption that the pedestrian will continue to move along the path of travel of the pedestrian at the determined moving speed of the pedestrian until the vehicle time to intersection point elapses;

wherein said processor determines a corridor of the projected path of travel of the vehicle that has a width that is wider than the vehicle width;

wherein, responsive to determination that the determined pedestrian will be within the corridor of the projected path of travel when the vehicle time to intersection point elapses, said collision avoidance system generates an alert to the driver of the vehicle;

wherein said collision avoidance system adjusts the width of the corridor responsive to a parameter indicative of a driving condition of the vehicle;

wherein said parameter comprises at least one parameter selected from the group consisting of (i) a vehicle parameter pertaining to the current traction of the vehicle, (ii) an environment parameter pertaining to the environment in which the vehicle is traveling, (iii) a location parameter pertaining to the geographical current location of the vehicle, (iv) a location and time parameter pertaining to the current geographical location of the vehicle and a particular event time associated with that location and (v) a driver attentiveness parameter pertaining to a determined attentiveness of the driver of the vehicle;

wherein said collision avoidance system generates a pedestrian alert to the pedestrian responsive to a determination that the pedestrian, if the pedestrian continues to move at the determined moving speed, would enter the corridor of the path of travel of the vehicle when or before the vehicle time to intersection point elapses and would be in the path of travel of the vehicle when the vehicle time to intersection point elapses; and

wherein said collision avoidance system, responsive to a determination that the determined moving speed of the pedestrian does not change following the pedestrian alert, applies the brakes of the vehicle to stop the vehicle.

20. The collision avoidance system of claim 19, wherein said collision avoidance system applies the brakes of the vehicle to reduce the vehicle speed responsive to a determination that the pedestrian, if the pedestrian continues to move at the determined moving speed, would, when the vehicle time to intersection point elapses, be in corridor of the path of travel of the vehicle and closer to the side of the path of travel of the vehicle opposite from the side toward where the pedestrian is determined to be present.