Auto-braking system for vehicle and method for auto-braking vehicle

• US 10,300,894 B2
• Filed: 03/13/2017
• Issued: 05/28/2019
• Est. Priority Date: 03/13/2017
• Status: Active Grant

• Current Assignee: DENSO Corporation, Denso International America Incorporated (DENSO Corporation)
• Original Assignee: DENSO Corporation, Denso International America Incorporated (DENSO Corporation)
• Inventors: Rawashdeh, Zaydoun, Malhan, Rajesh, Nguyen, Trong Duy, Pottammal, Anoop
• Primary Examiner(s): Odeh, Nadeem
• Assistant Examiner(s): Kerrigan, Michael V
• Application Number:
  US15/456,880
• Publication Number:
  US 20180257615A1
• Time in Patent Office: 806 Days
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 2201/03 Brake assistants
• CPC Class Codes: B60T 2210/36 Global Positioning System [GPS]
• 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 7/18 operated by wayside apparatus
• 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 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence
• CPC Class Codes: G06F 18/22 Matching criteria, e.g. proximity measures
• CPC Class Codes: G06V 10/56 relating to colour
• CPC Class Codes: G06V 10/761 Proximity, similarity or dissimilarity measures
• CPC Class Codes: G06V 20/584 of vehicle lights or traffic lights
• CPC Class Codes: H04N 7/183 for receiving images from a single remote source

Abstract

The present disclosure provides an auto-braking system which includes a braking device, a receiver, and a controller. The controller includes a determining portion, a verifying portion and an executing portion. The determining portion determines whether a vehicle will violate a red signal of the traffic light based on the traffic light state information. The verifying portion verifies the traffic light state information is valid by comparing the traffic light state information with the image of the traffic light captured by the sensor. The executing portion executes a first braking control to slow the vehicle at a first deceleration rate when the determining portion determines that the vehicle will violate a red signal. The executing portion executes a second braking control to slow the vehicle at a second deceleration rate to stop at a specified position when the verifying portion verifies that the traffic light state information is valid.

Claims

1. An auto-braking system for a vehicle, comprising:

a braking device that slows the vehicle;

a receiver that receives messages each containing traffic light state information from a traffic light ahead of the vehicle over Vehicle-to-Infrastructure communication;

a sensor that optically captures an image of the traffic light after the receiver received the messages; and

a controller that controls operation of the braking device, wherein

the controller includes;

a determining portion that determines whether the vehicle will violate a red signal of the traffic light, if the vehicle continues to travel under current traveling conditions, based on the traffic light state information when the receiver receives the messages;

a verifying portion that verifies the traffic light state information is valid by comparing the traffic light state information with the image of the traffic light captured by the sensor when the sensor captures the image of the traffic light; and

an executing portion that executes;

(i) a first braking control to slow the vehicle at a first deceleration rate by controlling the braking device when the determining portion determines that the vehicle will violate a red signal; and

(ii), after the first braking control was executed, a second braking control to slow the vehicle at a second deceleration rate to stop at a specified position by controlling the braking device when the verifying portion verifies that the traffic light state information is valid.

2. The auto-braking system according to claim 1, wherein

the second deceleration rate has an absolute value that is greater than that of the first deceleration rate.

3. The auto-braking system according to claim 1, wherein

the verifying portion compares, for a validation period, color of the traffic light in each frame of the image with the traffic light state information contained in one of the messages currently received by the receiver, and

the verifying portion verifies the traffic light state information when the color matches with the traffic light state information during the validation period.

4. The auto-braking system according to claim 1, wherein

the determining portion determines whether the vehicle will violate a red signal of the traffic light when the vehicle reaches a position a specified distance away from the traffic light.

5. The auto-braking system according to claim 1, wherein

the sensor is a camera.

6. The auto-braking system according to claim 1, wherein

the sensor captures the image of the traffic light after the executing portion executes the first braking control.

7. An auto-braking controller for a vehicle, comprising:

a determining portion that determines whether the vehicle will violate a red signal of a traffic light ahead of the vehicle, if the vehicle continues to travel under current traveling conditions, based on traffic light state information contained in each of messages received by a receiver from the traffic light over Vehicle-to-Infrastructure communication when the receiver receives the messages;

a verifying portion that verifies the traffic light state information is valid by comparing the traffic light state information with an image of the traffic light optically captured by a sensor when the sensor receives the image of the traffic light after the receiver received the messages; and

an executing portion that executes;

(i) a first braking control to slow the vehicle at a first deceleration rate by controlling a braking device when the determining portion determines that the vehicle will violate a red signal; and

(ii), after the first braking control was executed, a second braking control to slow the vehicle at a second deceleration rate to stop at a specified position by controlling the braking device when the verifying portion verifies that the traffic light state information is valid.

8. The auto-braking controller according to claim 7, wherein

the second deceleration rate has an absolute value that is greater than that of the first deceleration rate.

9. The auto-braking controller according to claim 8, wherein

the verifying portion compares, for a validation period, color of the traffic light in each frame of the image with the traffic light state information contained in one of the messages currently received by the receiver, and

the verifying portion verifies the traffic light state information when the color matches with the traffic light state information during the validation period.

10. The auto-braking controller according to claim 8, wherein

the determining portion determines whether the vehicle will violate a red signal of the traffic light when the vehicle reaches a position a specified distance away from the traffic light.

11. The auto-braking controller according to claim 8, wherein

the image of the traffic light is captured by the sensor after the executing portion executes the first braking control.

12. A method for auto-braking a vehicle, comprising:

receiving, with a receiver, messages each containing traffic light state information from a traffic light ahead of the vehicle over Vehicle-to-Infrastructure communication;

determining, with a determining portion, whether the vehicle will violate a red signal of the traffic light, if the vehicle continues to travel under current traveling conditions, based on the traffic light state information when the receiver receives the messages;

executing, with an executing portion, a first braking control to slow the vehicle at a first deceleration rate by controlling a braking device when the determining portion determines that the vehicle will violate a red signal;

optically detecting, with a sensor, an image of the traffic light after the receiver received the messages;

verifying, with a verifying portion, the traffic light state information is valid by comparing the traffic light state information with the image of the traffic light captured by the sensor when the sensor captures the image of the traffic light; and

after the first braking control was executed, executing, with the executing portion, a second braking control to slow the vehicle at a second deceleration rate to stop at a specified position by controlling the braking device when the verifying portion verifies that the traffic light state information is valid.

13. The method according to claim 12, wherein

the second deceleration rate has an absolute value that is greater than that of the first deceleration rate.

14. The method according to claim 13, further comprising:

comparing, with the verifying portion, for a validation period, color of the traffic light in each frame of the image with the traffic light state information in one of the messages currently received by the receiver, wherein

the verifying portion verifies the traffic light state information when the color matches with the traffic light state information during the validation period.

15. The method according to claim 13, wherein

the determining portion determines whether the vehicle will violate a red signal of the traffic light when the vehicle reaches a position a specified distance away from the traffic light.

16. The method according to claim 13, wherein

the step of capturing the image of the traffic light is performed after executing the first braking control.