System and method for collision warning based on dynamic deceleration capability using predicted road load

• US 5,659,304 A
• Filed: 03/01/1995
• Issued: 08/19/1997
• Est. Priority Date: 03/01/1995
• Status: Expired due to Term

• Current Assignee: Bendix Commercial Vehicle Systems LLC (Estate of Heinz Hermann Thiele)
• Original Assignee: Eaton Corp. (Wisconsin) (Eaton Corporation PLC.)
• Inventors: Chakraborty, Shubhayu
• Primary Examiner(s): Hofsass, Jeffery
• Assistant Examiner(s): Pope, Daryl C.
• Application Number:
  US08/396,627
• Time in Patent Office: 902 Days
• Field of Search: 340/903, 340/904, 340/435, 340/436, 340/439, 364/424.03, 364/461, 180/167, 180/169
• US Class Current: 340/903
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2530/16 Driving resistance
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60Y 2200/14 Trucks; Load vehicles, Busses
• CPC Class Codes: F16H 61/70 specially adapted for change-speed gearing in group arrangement, i.e. with separate change-speed gear trains arranged in series, e.g. range or overdrive-type gearing arrangements
• CPC Class Codes: F16H 61/702 using electric or electrohydraulic control means
• CPC Class Codes: G08B 21/02 Alarms for ensuring the safety of persons

Abstract

A system and method for collision warning utilize a sensor to determine an inter-vehicle distance and/or closing rate relative to a forward vehicle. A predicted vehicle road load is determined using a predetermined number of previous road load values which is then utilized to determine whether the vehicle has sufficient deceleration capability so as to avoid a collision without operator intervention. The vehicle road load accounts for various forces both internal and external to the vehicle which resist forward motion including those due to gravity and aerodynamic drag, and those provided by an engine retarder or downshifting of an automatic transmission. The present invention thus avoids spurious collision indications.

Claims

1. A system for warning of a potential collision of a vehicle, the system comprising:

a sensor for determining a distance between the vehicle and a forward object;

control logic in communication with the sensor for indicating a potential collision based on a position value which is a function of a predicted vehicle road load value based on a predetermined number of previously determined vehicle road load values, the predicted vehicle road load value being predicted for an estimated future collision time.

2. The system of claim 1 wherein the control logic is operative to predict a vehicle road load value based on a predetermined number of previously determined road load values utilizing a divided difference technique.

3. The system of claim 1 wherein the sensor determines a closing rate between the vehicle and the forward object and wherein the control logic indicates a potential collision based on a position value which is a function of the distance, the closing rate, and the predicted vehicle road load value.

4. The system of claim 3 wherein the control logic determines the position value according to:

space="preserve" listing-type="equation">x(t)=x.sub.0 +tv-1/2t.sup.2 a.sub.Total (

     12)

where t represents time in seconds, x₀ represents the distance, v represents the closing rate, and a_Total represents deceleration capability of the vehicle based on the predicted vehicle road load value.

5. The system of claim 4 wherein the vehicle includes an engine retarder characterized by a first deceleration capability and an automated transmission characterized by a second deceleration capability and wherein a_Total includes the first and second deceleration capabilities.

6. A system for warning of a potential collision of a vehicle, the system comprising:

a sensor for determining a distance and closing rate relative to at least one forward object; and

control logic in communication with the sensor for determining a current vehicle road load value, predicting a future vehicle road load value based on a predetermined number of previously determined current vehicle road load values, computing future vehicle deceleration capability utilizing the predicted road load, and predicting a collision based on a position value which is a function of the distance, the closing rate, and the future deceleration capability.

7. The system of claim 6 further comprising:

an alarm in communication with the control logic; and

wherein the control logic is further operative to communicate an alarm signal to the alarm when the position value is below a predetermined threshold value.

8. The system of claim 6 wherein the vehicle includes an engine and at least one tire and wherein the control logic determines the current vehicle road load value by subtracting a product of the mass of the vehicle and vehicle road speed, from vehicle driving force delivered to the at least one tire from the engine.

9. The system of claim 8 wherein the driving force is determined according to:

##EQU7## where %Tq represents current percentage of peak engine torque, Tq_Peak represents peak engine torque, ES represents engine speed in rpm, and RS represents vehicle speed in mph.

10. A method for warning of a potential collision of a vehicle having a sensor for determining an inter-object distance, the method comprising:

sensing the inter-object distance relative to at least one forward object;

determining a closing rate based on the inter-object distance;

determining a vehicle road load value based on a difference between vehicle driving force and a product of vehicle mass and acceleration;

determining a position value based on the inter-object distance, the closing rate, and the vehicle road load value; and

indicating a potential collision when the position value is less than a predetermined threshold value.

11. The method of claim 10 wherein the step of determining a vehicle road load value comprises predicting a vehicle road load value for an estimated time of collision based on a predetermined number of previously determined road load values.

12. The method of claim 10 wherein the step of determining a vehicle road load value comprises predicting a vehicle road load value for an estimated time of collision based on a predetermined number of previously determined road load values using a divided difference technique.

13. The method of claim 10 wherein the position value is determined according to:

space="preserve" listing-type="equation">x(t)=x.sub.0 +tv-1/2t.sup.2 a.sub.Total (

     14)

where t represents time in seconds, x₀ represents the inter-object distance, v represents the closing rate, and a_Total represents deceleration capability of the vehicle based on the vehicle road load value.

14. The method of claim 13 wherein the vehicle includes an engine retarder characterized by a first deceleration capability and an automated transmission characterized by a second deceleration capability and wherein a_Total includes the first and second deceleration capabilities.

15. The method of claim 10 wherein the vehicle includes an engine and at least one tire and wherein the step of determining the vehicle road load value comprises subtracting a product of vehicle mass and the closing rate from vehicle driving force delivered from the engine to the at least one tire.

16. The method of claim 15 wherein the driving force is determined according to:

##EQU8## where %Tq represents current percentage of peak engine torque, Tq_Peak represents peak engine torque, ES represents engine speed in rpm, and RS represents vehicle speed in mph.