Methods and systems for blind spot monitoring with rotatable blind spot sensor

• US 9,931,981 B2
• Filed: 04/12/2016
• Issued: 04/03/2018
• Est. Priority Date: 04/12/2016
• Status: Active Grant

• Current Assignee: DENSO Corporation, Denso International America Incorporated (DENSO Corporation)
• Original Assignee: DENSO Corporation, Denso International America Incorporated (DENSO Corporation)
• Inventors: Lai, Ting-Yu, Sato, Miki, Sun, Bo
• Primary Examiner(s): Wang, Quan-Zhen
• Assistant Examiner(s): BURGDORF, STEPHEN R
• Application Number:
  US15/096,430
• Publication Number:
  US 20170291546A1
• Time in Patent Office: 721 Days
• Field of Search: 340435
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60R 2300/202 displaying a blind spot scene on the vehicle part responsible for the blind spot
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention

Abstract

A system and method are provided and include a rotatable blind spot sensor that monitors a blind spot detection area of a subject vehicle. The rotatable blind spot sensor generates first object data while positioned at a first angle and second object data while positioned at a second angle. A controller receives the first object data and the second object data and determines whether the object is a secondary vehicle located within a blind spot detection area of the subject vehicle. A driver alert system generates an alert in response to the controller determining that the object is the secondary vehicle located within the blind spot detection area of the subject vehicle.

Claims

1. A system comprising:

a rotatable blind spot sensor configured to monitor a blind spot detection area of a subject vehicle and generate first object data while positioned at a first angle relative to the subject vehicle and second object data while positioned at a second angle relative to the subject vehicle;

a controller configured to (i) receive the first object data when the rotatable blind spot sensor is positioned at the first angle, (ii) determine whether the first object data indicates that a stagnating object appears at a fixed location in the blind spot detection area, (iii) output an angle command to rotate the rotatable blind spot sensor from the first angle to the second angle in response to determining that the first object data indicates that the stagnating object appears at the fixed location in the blind spot detection area, (iv) receive the second object data when the rotatable blind spot sensor is positioned at the second angle, and (v) determine whether the stagnating object is a secondary vehicle located within the blind spot detection area of the subject vehicle based on the first object data and the second object data; and

a driver alert system configured to generate an alert in response to the controller determining that the stagnating object is the secondary vehicle located within the blind spot detection area of the subject vehicle.

2. The system of claim 1, wherein the controller is configured to determine whether the stagnating object is the secondary vehicle by determining whether the second object data indicates an edge of the secondary vehicle.

3. The system of claim 1, wherein the controller is configured to detect whether the stagnating object has a first edge indicated by the first object data, detect whether the stagnating object has a second edge indicated by the second object data, and determine whether the stagnating object is the secondary vehicle in response to detecting that the stagnating object has the first edge indicated by the first object data and the second edge indicated by the second object data.

4. The system of claim 1, wherein the controller is configured to rotate the rotatable blind spot sensor back to the first angle after determining whether the stagnating object is the secondary vehicle located within the blind spot detection area of the subject vehicle.

5. The system of claim 1, wherein the rotatable blind spot sensor includes at least one of a radar sensor, a camera, and an ultrasonic sensor.

6. The system of claim 1, wherein the alert includes at least one of a visual alert, an audible alert, and a haptic alert to a driver of the subject vehicle.

7. The system of claim 1, wherein the controller is configured to continue receiving the first object data with the rotatable blind spot sensor positioned at the first angle, without rotating the rotatable blind spot sensor to the second angle, in response to determining that the first object data does not indicate that the stagnating object appears at the fixed location in the blind spot detection area.

8. A method comprising:

monitoring, with a rotatable blind spot sensor, a blind spot detection area of a subject vehicle;

generating, with the rotatable blind spot sensor, first object data while the rotatable blind spot sensor is positioned at a first angle relative to the subject vehicle and second object data while the rotatable blind spot sensor is positioned at a second angle relative to the subject vehicle;

receiving, with a controller, the first object data when the rotatable blind spot sensor is positioned at the first angle;

determining, with the controller, whether the first object data indicates that a stagnating object appears at a fixed location in the blind spot detection area;

outputting, with the controller, an angle command to rotate the rotatable blind spot sensor from the first angle to the second angle in response to determining that the first object data indicates that the stagnating object appears at the fixed location in the blind spot detection area;

receiving, with the controller, the second object data when the rotatable blind spot sensor is positioned at the second angle;

determining, with the controller, whether the stagnating object is a secondary vehicle located within the blind spot detection area of the subject vehicle based on the first object data and the second object data; and

generating, with a driver alert system, an alert in response to the controller determining that the stagnating object is the secondary vehicle located within the blind spot detection area of the subject vehicle.

9. The method of claim 8, wherein the controller determines whether the stagnating object is the secondary vehicle by determining whether the second object data indicates an edge of the secondary vehicle.

10. The method of claim 8, further comprising:

detecting, with the controller, whether the stagnating object has a first edge indicated by the first object data;

and

detecting, with the controller, whether the stagnating object has a second edge indicated by the second object data;

wherein the controller determines whether the stagnating object is the secondary vehicle in response to detecting that the stagnating object has the first edge indicated by the first object data and the second edge indicated by the second object data.

11. The method of claim 8, further comprising rotating, with the controller, the rotatable blind spot sensor back to the first angle after determining whether the stagnating object is the secondary vehicle located within the blind spot detection area of the subject vehicle.

12. The method of claim 8, wherein the rotatable blind spot sensor includes at least one of a radar sensor, a camera, and an ultrasonic sensor.

13. The method of claim 8, wherein the alert includes at least one of a visual alert, an audible alert, and a haptic alert to a driver of the subject vehicle.

14. The method of claim 8, further comprising

continuing to receive, with the controller, the first object data with the rotatable blind spot sensor positioned at the first angle, without rotating the rotatable blind spot sensor to the second angle, in response to determining that the first object data does not indicate that the stagnating object appears at the fixed location in the blind spot detection area.

15. A system comprising:

a rotatable blind spot sensor configured to monitor a blind spot detection area of a subject vehicle;

a controller in communication with the rotatable blind spot sensor configured to receive first object data from the rotatable blind spot sensor while the rotatable blind spot sensor is positioned at a first angle relative to the subject vehicle, determine whether the first object data indicates that a stagnating object is located within the blind spot detection area and that the object does not appear to be moving relative to the subject vehicle, rotate the rotatable blind spot sensor to a second angle relative to the subject vehicle in response to determining that the first object data indicates that the stagnating object is located within the blind spot detection area and does not appear to be moving relative to the subject vehicle, receive second object data from the rotatable blind spot sensor while the rotatable blind spot sensor is positioned at a second angle relative to the subject vehicle, and determine whether the stagnating object is a secondary vehicle located within the blind spot detection area of the subject vehicle based on the first object data and the second object data; and

a driver alert system configured to generate an alert in response to the controller determining that the stagnating object is the secondary vehicle located within the blind spot detection area of the subject vehicle.

16. The system of claim 15, wherein the controller determines whether the stagnating object is the secondary vehicle by determining whether the second object data indicates an edge of the secondary vehicle.

17. The system of claim 15, wherein the controller is configured to rotate the rotatable blind spot sensor back to the first angle after determining whether the stagnating object is the secondary vehicle located within the blind spot detection area of the subject vehicle.

18. The system of claim 15, wherein the rotatable blind spot sensor includes at least one of a radar sensor, a camera, and an ultrasonic sensor.

19. The system of claim 15, wherein the alert includes at least one of a visual alert, an audible alert, and a haptic alert to a driver of the subject vehicle.