Motor vehicle warning and control system and method

• US 6,906,639 B2
• Filed: 04/21/2003
• Issued: 06/14/2005
• Est. Priority Date: 08/11/1993
• Status: Expired due to Fees

• Current Assignee: Dorothy Lemelson
• Original Assignee: Dorothy Lemelson
• Inventors: Pedersen, Robert D.
• Primary Examiner(s): Crosland, Donnie L.
• Application Number:
  US10/420,395
• Publication Number:
  US 20040022416A1
• Time in Patent Office: 785 Days
• Field of Search: 340/903, 340/435, 340/436, 180/167, 180/169, 180/271, 180/274, 180/280, 701/301
• US Class Current: 340/903
• CPC Class Codes: B60T 2201/022 Collision avoidance systems
• CPC Class Codes: B60T 2201/024 Collision mitigation systems
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/082 using alarm actuation
• CPC Class Codes: B60T 2201/083 using active brake actuation
• CPC Class Codes: B60T 2201/085 using several actuators; Coordination of the lane keeping system with other control systems
• CPC Class Codes: B60T 2201/087 using active steering actuation
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 19/11 wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
• CPC Class Codes: G01S 2013/9316 combined with communication equipment with other vehicles or with base stations
• CPC Class Codes: G01S 2013/9318 Controlling the steering
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/9319 Controlling the accelerator
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9321 Velocity regulation, e.g. cruise control
• CPC Class Codes: G01S 2013/9322 using additional data, e.g. driver condition, road state or weather data
• CPC Class Codes: G01S 2013/9323 Alternative operation using light waves
• CPC Class Codes: G01S 2013/9325 : for inter-vehicle distance regulation, e.g. navigating in platoons
• CPC Class Codes: G01S 5/009 : Transmission of differential positioning data to mobile
• CPC Class Codes: G07C 5/0891 : Video recorder in combination with video camera
• CPC Class Codes: G08G 1/164 : Centralised systems, e.g. external to vehicles
• CPC Class Codes: G08G 1/165 : for passive traffic, e.g. including static obstacles, trees
• CPC Class Codes: G08G 1/166 : for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A system and method assists the driver of a motor vehicle in preventing accidents or minimizing the effects of same. In one form, a television camera or other ranging device is mounted on a vehicle and scans the roadway ahead of the vehicle as the vehicle travels. Continuously generated video picture signals output by the camera are electronically processed and analyzed by a fuzzy-logic-based image analyzing computer mounted in the controlled vehicle, which generates control signals and applies them to control the operation of the accelerator, brake, and steering system of the vehicle in a coordinated way to attempt to avoid or lessen the effects of a collision. In a particular form, the decision computer may select the evasive action taken from a number of choices, depending on whether and where the detection device senses other vehicles and obstacles. Warning signals may also be generated.

Claims

1. A system for operating and controlling a motor vehicle having a power-drive system and controls including an accelerator, a brake, and a steering system comprising:

(a) a ranging device supported by the vehicle, directed toward the front of the vehicle, and structured to generate first signals indicating the distance to and relative motion of some objects in front of the vehicle;

(b) a detector supported by the vehicle, directed away from the vehicle in a direction other than the front of the vehicle, and structured to generate second signals identifying whether there is an object in said other direction; and

(c) a fuzzy logic-based computer having a memory containing a plurality of sets of fuzzy inference vehicle control rules, each rule defining a coordinated combination of changes to the vehicle'"'"'s steering and acceleration;

(d) wherein the computer is coupled to the ranging device and the detector and structured to use the first and second signals to select and reproduce from the memory a selected one of the plurality of sets of rules and to apply the selected set of rules to derive command signals with fuzzy logic;

(e) wherein the computer is electrically coupled to the controls;

(f) whereby the command signals are applied to control the accelerator, brake, and steering system of the vehicle in a coordinated way to attempt to avoid collisions between the vehicle and objects in its path of travel without taking evasive action that would cause a collision with objects detected in said other direction.

2. A system in accordance with claim 1 further comprising a visual display inside the vehicle coupled to the ranging device and driven by the first signals to generate symbols representative of objects in the path of the vehicle.

3. A system in accordance with claim 2 wherein the visual display comprises a heads-up display aimed to project images of intelligible information on a front windshield of the vehicle.

4. A system in accordance with claim 1 further comprising a synthetic speech generating system coupled to the computer and driven by the command signals to generate sounds of select words of speech.

5. A system in accordance with claim 1 further comprising a warning device coupled to the ranging device and driven by the first signals to generate a warning signal perceptible to a human when one of the objects is in the path of the vehicle, and wherein the computer is timed to control the operation of the vehicle only if the controls of the vehicle are not first altered sufficiently to avoid a collision with the object in response to indication by the warning device that an obstacle is in the path of travel of the vehicle.

6. A system in accordance with claim 1 wherein the ranging device comprises an image-generating camera.

7. A system in accordance with claim 1 wherein the ranging device comprises a radar-based ranging system.

8. A system in accordance with claim 1 further comprising an override controller coupled to the computer so as, when activated by a driver, to prevent the command signals from controlling the motor vehicle.