OBJECT IDENTIFICATION AND ACTIVE SAFETY CONTROL FOR VEHICLES

• US 20130024075A1
• Filed: 07/22/2011
• Published: 01/24/2013
• Est. Priority Date: 07/22/2011
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: ZAGORSKI, CHAD T., GANDHI, DANIEL, CONRAD, KEVIN P.
• Granted Patent: US 9,511,751 B2
• Time in Patent Office: Days
• US Class Current: 701/46
• 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: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/803 Relative lateral speed
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 2720/12 Lateral speed
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: B60W 2754/40 Relative lateral speed
• CPC Class Codes: B60W 2754/50 Relative longitudinal speed
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

Methods and vehicles are provided for identifying objects in proximity to the vehicle and controlling active safety functionality for the vehicle. A target object in proximity to the vehicle is detected. A movement of the target object is measured. The target object is classified based at least in part on the movement. The active safety functionality is controlled based at least in part on the classification of the target object.

Claims

1. A method for identifying objects in proximity to a host vehicle, the method comprising the steps of:

detecting a target object in proximity to the host vehicle;

measuring a movement of the target object; and

classifying the target object based at least in part on the movement of the target object using a processor.

2. The method of claim 1, further comprising the step of:

calculating a relative velocity of the target object with respect to the host vehicle using the movement;

wherein the step of classifying the target object comprises the step of classifying the target object as a target vehicle in proximity to the host vehicle if the relative velocity is less than a predetermined threshold.

3. The method of claim 2, further providing the step of:

providing a notification, a corrective action, or both, if the target object is classified as a target vehicle in proximity to the host vehicle.

4. The method of claim 2, wherein:

the step of calculating the relative velocity comprises the steps of;

calculating an absolute value of a relative longitudinal velocity of the target object with respect to the host vehicle object via the processor; and

calculating an absolute value of a relative lateral velocity of the target object with respect to the host vehicle via the processor; and

the step of classifying the target object comprises the step of classifying the target object as the target vehicle in proximity to the host vehicle if both of the following conditions are satisfied, namely;

the absolute value of the relative longitudinal velocity is less than a first predetermined threshold; and

the absolute value of the relative lateral velocity is less than a second predetermined threshold.

5. The method of claim 2, further comprising the step of:

determining whether the target object is travelling in a same direction as the host vehicle;

wherein the step of classifying the target object as the target vehicle in proximity to the host vehicle comprises the step of classifying the target object as the target vehicle in proximity to the host vehicle if both of the following conditions are satisfied, namely;

the relative velocity is less than the predetermined threshold; and

the target object is travelling in the same direction as the host vehicle.

6. The method of claim 2, further comprising the step of:

calculating an absolute value of a lateral lane offset between the target object and the host vehicle;

wherein the step of classifying the target object as the target vehicle in proximity to the host vehicle comprises the step of classifying the target object as the target vehicle in proximity to the host vehicle if both of the following conditions are satisfied, namely;

the relative velocity is less than the predetermined threshold; and

the absolute value of the lateral lane offset is greater than a second predetermined threshold.

7. The method of claim 2, further comprising the step of:

calculating a velocity of the host vehicle;

wherein the step of classifying the target object as the target vehicle in proximity to the host vehicle comprises the step of classifying the target object as the target vehicle in proximity to the host vehicle if both of the following conditions are satisfied, namely;

the relative velocity is less than the predetermined threshold; and

the velocity of the host vehicle is greater than a second predetermined threshold.

8. The method of claim 1, further comprising the steps of:

calculating a velocity of the host vehicle; and

calculating a change in lateral position of the target object; and

wherein the step of classifying the target object comprises the step of classifying the target object as an individual not in a motor vehicle if both of the following conditions are satisfied, namely;

the velocity of the host vehicle is less than a first predetermined threshold; and

the change in lateral position of the target object is greater than a second predetermined threshold.

9. The method of claim 8, wherein the host vehicle includes a steering wheel, and the method further comprises the step of:

calculating an absolute value of a steering angle gradient of the steering wheel;

wherein the step of classifying the target object comprises the step of classifying the target object as an individual not in a motor vehicle if each of the following conditions are satisfied, namely;

the velocity of the host vehicle is less than the first predetermined threshold;

the change in lateral position of the target object is greater than the second predetermined threshold; and

the absolute value of the steering angle gradient is less than a third predetermined threshold.

10. The method of claim 8, wherein the host vehicle has an accelerator pedal, and the method further comprises the step of:

measuring a position of the accelerator pedal;

wherein the step of classifying the target object comprises the step of classifying the target object as an individual not in a motor vehicle if each of the following conditions are satisfied, namely;

the velocity of the host vehicle is less than the first predetermined threshold;

the change in lateral position of the target object is greater than the second predetermined threshold; and

the position of the accelerator pedal is less than a third predetermined threshold.

11. A method for controlling an active safety system for a host vehicle, the method comprising the steps of:

identifying a target object in proximity to the host vehicle;

calculating a time to collision between the target object and the host vehicle via a processor;

implementing the active safety system if the time to collision is less than a first predetermined threshold if the target object is identified as comprising a motor vehicle; and

implementing the active safety system if the time to collision is less than a second predetermined threshold if the target object is identified as comprising an individual not in a motor vehicle, the second predetermined threshold being greater than the first predetermined threshold.

12. The method of claim 11, wherein the steps of implementing the active safety system further comprise the steps of:

applying automatic braking at a first rate if the target object is identified as a motor vehicle; and

applying automatic braking at a second rate if the target object is identified as comprising an individual not in a motor vehicle.

13. The method of claim 11, further comprising the step of:

identifying the target object as comprising an individual not in a motor vehicle if the target object is determined to be a pedestrian or a bicycle.

14. The method of claim 11, further comprising the steps of:

calculating a velocity of the host vehicle; and

calculating a change in lateral position of the target object; and

identifying the target object as comprising an individual not in a motor vehicle if both of the following conditions are satisfied, namely;

the velocity of the host vehicle is less than a third predetermined threshold; and

the change in lateral position of the target object is greater than a fourth predetermined threshold.

15. The method of claim 14, wherein the host vehicle has a steering wheel, and the method further comprises the step of:

calculating an absolute value of a steering angle gradient of the steering wheel;

wherein the steps of identifying the target object as comprising an individual not in a motor vehicle comprises the step of identifying the target object as comprising an individual not in a motor vehicle if each of the following conditions are satisfied, namely;

the velocity of the host vehicle is less than the third predetermined threshold;

the change in lateral position of the target object is greater than the fourth predetermined threshold; and

the absolute value of the steering angle gradient is less than a fifth predetermined threshold.

16. The method of claim 14, wherein the host vehicle has an accelerator pedal, and the method further comprises the step of:

measuring a position of the accelerator pedal;

wherein the steps of identifying the target object as comprising an individual not in a motor vehicle comprises the step of identifying the target object as comprising an individual not in a motor vehicle if each of the following conditions are satisfied, namely;

the velocity of the host vehicle is less than the third predetermined threshold;

the change in lateral position of the target object is greater than the fourth predetermined threshold; and

the position of the accelerator pedal is less than a fifth predetermined threshold.

17. A vehicle comprising:

a drive system; and

an active safety system coupled to the drive system and configured to provide an action during a drive cycle of the vehicle, the active safety system comprising;

a detection unit configured to;

detect a target object in proximity to the vehicle, the active safety system; and

measure a movement of the target object; and

a processor coupled to the detection unit and configured to classify the target object based at least in part on the movement of the target object for use in providing the action.

18. The vehicle of claim 17, wherein the processor is further configured to classify the target object as a motor vehicle in proximity to the vehicle if each of the following conditions are satisfied, namely:

an absolute value of a relative longitudinal velocity between the target object and the vehicle is less than a first predetermined threshold; and

an absolute value of a relative lateral velocity between the target object and the vehicle is less than a second predetermined threshold;

the target object is travelling in a same direction as the vehicle;

an absolute value of a lateral lane offset between the target object and the vehicle is greater than a third predetermined threshold; and

a velocity of the vehicle is greater than a fourth predetermined threshold.

19. The vehicle of claim 17, wherein the vehicle includes a steering wheel and an accelerator pedal, and the processor is further configured to classify the target object as an individual not in a motor vehicle if each of the following conditions are satisfied, namely:

a velocity of the vehicle is less than a first predetermined threshold;

a change in lateral position of the target object is greater than a second predetermined threshold;

an absolute value of a steering angle gradient of the steering wheel is less than a third predetermined threshold; and

a position of the accelerator pedal is less than a fourth predetermined threshold.

20. The vehicle of claim 17, wherein the vehicle includes a braking system, and the processor is further configured to:

calculate a time to collision between the target object and the vehicle;

classify the target object;

implement automatic braking via the braking system if the time to collision is less than a first predetermined threshold if the target object is classified as comprising a motor vehicle; and

implement the automatic braking via the braking system if the time to collision is less than a second predetermined threshold if the target object is classified as comprising an individual not in a motor vehicle, the second predetermined threshold being greater than the first predetermined threshold.