METHOD FOR MONITORING THE ENVIRONMENT OF AN AUTOMATIC VEHICLE

• US 20100191433A1
• Filed: 01/26/2010
• Published: 07/29/2010
• Est. Priority Date: 01/29/2009
• Status: Active Grant

• Current Assignee: Valeo Vision (Valeo SE)
• Original Assignee: Valeo Vision (Valeo SE)
• Inventors: Groult, Xavier
• Granted Patent: US 8,452,506 B2
• Time in Patent Office: Days
• US Class Current: 701/70
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 15/87 Combinations of sonar systems
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9323 Alternative operation using light waves
• CPC Class Codes: G01S 2013/9324 Alternative operation using ultrasonic waves
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 2013/93272 in the back of the vehicles
• CPC Class Codes: G01S 2015/938 in the bumper area radar in bumper area G01S2013/93275; bumper with obstacle sensor of electric or electronic type B60R19/483

Abstract

A device, program and method for monitoring the environment of a vehicle capable of moving according to a path. The device, program and method comprises the steps of calculating a plurality of critical levels of driving depending on detection sensors, parameters related to the vehicle and an obstacle being in the environment of the vehicle, determining if an obstacle is on the path of the vehicle and depending on the calculated critical levels of driving and determination of an obstacle on the path of the vehicle, making a decision concerning the braking of the vehicle.

Claims

1. A detection method for monitoring an environment of a vehicle (V) capable of moving according to a path (TR), wherein said method comprises the steps of:

calculating a plurality of critical levels of driving (NCR) depending on ultrasonic detection sensors (C), parameters related to said vehicle (V) and an obstacle (O) in the environment of the vehicle (V);

determining if said obstacle (0) is on the path of said vehicle (V); and

depending on the calculated critical levels of driving (NCR), at least one of the critical levels taking account of the angle at a steering wheel (α

), and determination of an obstacle (O) on the path of said vehicle (V), making a decision relating to the braking of the vehicle (V).

2. The detection method according to claim 1, wherein a first critical level of driving (NCR1) is determined depending on an activation of the detection sensors (C).

3. The detection method according to claim 1, wherein a second critical level of driving (NCR2) is determined depending on a speed (Vit) of the vehicle.

4. The detection method according to claim 1, wherein a third critical level of driving (NCR3) is determined depending on a distance from the obstacle calculated in relation to the vehicle.

5. The detection method according to claim 4, wherein the distance (Do) of the obstacle is calculated depending on an angle at the steering wheel (α

) of the vehicle.

6. The detection method according to claim 5, wherein, depending on the angle at the steering wheel (α

) of the vehicle, only the sensor distances (Dc) measured by some of the detection sensors (C) are considered.

7. The detection method according to claim 6, wherein the distance (Do) from the obstacle is calculated using the shortest sensor distance (Dc) among the sensor distances (Dc) transmitted by the detection sensors considered.

8. The detection method according to claim 1, wherein a fourth critical level of driving (NCR4) is determined depending on the relative speed (VitR) of the obstacle in relation to the vehicle.

9. The detection method according to claim 1, wherein a critical marker (NCR_FLG) is determined on the basis of the calculated critical levels of driving (NCR) equal to the average of the two highest critical levels of driving.

10. The detection method according to claim 1, wherein the step of determining an obstacle (O) on the path of the vehicle (V) comprises the sub-steps of:

determining a level of confidence (NP) associated with a detection sensor (C) depending on a distance (Dc) transmitted by the detection sensors;

defining static zones of detection (Zs) and probabilities of detection (PZs) associated with each static zone depending on the given levels of confidence (NP);

defining dynamic zones of detection (Zd); and

determining if an obstacle (0) is situated on the path of the vehicle (V), as a function of said probabilities of detection (PZs) and said dynamic zones of detection (Zd).

11. The detection method according to claim 1, wherein said detection method also comprises an additional step of detecting whether the vehicle comprises a rear trailer (REM).

12. The detection method according to claim 1, wherein the decision concerning braking is a minimum braking request (RQ) of the brakes of the vehicle to accelerate triggering of the brakes if there is an obstacle (O) on the path of the vehicle and if the various critical levels of driving (NCR) are higher than a given critical threshold (NCR_S).

15. A computer program product (PG) comprising one or more sequences of instructions executable by a data processor, execution of said sequences of instructions enabling the method to be implemented according to claim 1.

16. The detection method according to claim 2, wherein a second critical level of driving (NCR2) is determined depending on a speed (Vit) of the vehicle.

17. The detection method according to claim 2, wherein a third critical level of driving (NCR3) is determined depending on a distance from the obstacle calculated in relation to the vehicle.

18. The detection method according to claim 3, wherein a third critical level of driving (NCR3) is determined depending on a distance from the obstacle calculated in relation to the vehicle.

19. The detection method according to claim 2, wherein a critical marker (NCR_FLG) is determined on the basis of the calculated critical levels of driving (NCR) equal to the average of the two highest critical levels of driving.

20. A computer program product (PG) comprising one or more sequences of instructions executable by a data processor, execution of said sequences of instructions enabling the method to be implemented according to claim 2.

13. A monitoring device (DISP) for monitoring an environment of a vehicle (V) capable of moving according to a path, wherein said monitoring device comprises a control unit (UC) for:

calculating a plurality of critical levels of driving (NCR) depending on ultrasonic detection sensors (C), parameters related to said vehicle (V) and an obstacle (O) being in the environment of the vehicle, said parameters including the angle at the steering wheel (a) of said vehicle;

determining if an obstacle (0) is on the path of said vehicle (V); and

depending on the calculated critical levels of driving (NCR) and determination of an obstacle (O) on the path of said vehicle (V), making a decision concerning the braking of the vehicle.

14. The monitoring device (DISP) according to claim 13, wherein said control unit (UC) is moreover capable of:

determining a level of confidence (NP) associated with a detection sensor (C) depending on a distance (Dc) transmitted by the detection sensors (C);

defining static zones of detection (Zs) and probabilities of detection (PZs) associated with each static zone depending on the given levels of confidence (NP);

defining dynamic zones of detection (Zd); and

determining if an obstacle (O) is situated on the path of the vehicle (V), as a function of said probabilities of detection (PZs) and said dynamic zones of detection (Zd).