Method for operating a pre-crash sensing system in a vehicle having a countermeasure system using stereo cameras

• US 7,009,500 B2
• Filed: 02/13/2002
• Issued: 03/07/2006
• Est. Priority Date: 02/13/2002
• Status: Expired due to Term

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Prakah-Asante, Kwaku O., Rao, Manoharprasad K., Strumolo, Gary Steven
• Primary Examiner(s): Hofsass, Jeffery
• Assistant Examiner(s): Previl, Daniel
• Application Number:
  US09/683,782
• Publication Number:
  US 20030154011A1
• Time in Patent Office: 1,483 Days
• Field of Search: 340/435, 340/436, 340/437, 340/438, 340/903, 340/904, 340/905, 701/301, 701/200, 701/45
• US Class Current: 340/435
• CPC Class Codes: B60G 2400/823 Obstacle sensing
• CPC Class Codes: B60R 21/013 including means for detecting collisions, impending collisions or roll-over
• CPC Class Codes: B60R 21/0134 responsive to imminent contact with an obstacle , e.g. using radar systems
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/802 Longitudinal distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 13/878 Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector G01S13/874 takes precedence
• CPC Class Codes: G01S 13/931 of land vehicles
• 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 2013/9323 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 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 2013/93275 in the bumper area

Abstract

A pre-crash sensing system is coupled to a countermeasure system that has at least a first countermeasure and a second countermeasure. The pre-crash sensing system has a vision system (26) that generates an object size signal and an object distance signal. A controller (12) is coupled to the vision system (26) and deploys either the first countermeasure or first and second countermeasures in response to the object distance and object size.

Claims

1. A pre-crash sensing system coupled to a countermeasure system having at least a first countermeasure and a second countermeasure comprising:

a vision system generating an object size signal and an object distance signal; and

a controller coupled to said vision system for deploying either said first countermeasure or said first and second countermeasures in response to said object distance signal and said object size signal.

2. A system as recited in claim 1 wherein said vision system comprise a stereo pair of cameras.

3. A system as recited in claim 1 wherein said object size comprises height.

4. A system as recited in claim 1 wherein said object size comprises object area and object height.

5. A system as recited in claim 1 further comprising a vehicle speed sensor generating a speed signal corresponding to the longitudinal speed of the vehicle;

wherein said controller activates said countermeasure system in response to the longitudinal speed signal.

6. A system as recited in claim 1 further comprising a decision zone;

wherein said vision sensor detects an object and generates an object distance signal from an object within said decision zone.

7. A method for operating a pre-crash sensing system for an automotive vehicle having a countermeasure system, said method comprising:

establishing a decision zone relative to the vehicle;

detecting an object within the decision zone using a vision system;

determining an object distance and relative velocity using a vision system;

determining an object size; and

activating the countermeasure system in response to the object size and relative velocity.

8. A method as recited in claim 7 wherein determining object size comprises determining an object height;

wherein activating the countermeasure system in response to the object size comprises activating the countermeasure system in response to the object height.

9. A method as recited in claim 7 wherein determining an object size comprises determining an object cross-sectional area;

wherein activating the countermeasure system in response to the object size comprises activating the countermeasure system in response to the object cross-sectional area.

10. A method as recited in claim 7 wherein determining an object size comprises determining an object cross-sectional area and object height;

wherein activating the countermeasure system in response to the object size comprises activating the countermeasure system in response to the object cross-sectional and object height.

11. A method as recited in claim 10 wherein determining an object cross-sectional area comprises determining the object cross-sectional area with a vision system.

12. A method as recited in claim 7 wherein detecting an object within the decision zone comprises detecting the object within the decision zone with a stereo pair of cameras.

13. A method as recited in claim 7 wherein prior to the step of activating, choosing the first countermeasure or the first countermeasure and the second countermeasure in response to said object size.

14. A method as recited in claim 7 wherein determining an object size comprises determining the vehicle orientation;

wherein activating the countermeasure system in response to the object size comprises activating the countermeasure system in response to the object size and vehicle orientation.

15. A method as recited in claim 7 further comprising establishing a decision zone in front of the vehicle.

16. A method as recited in claim 15 further comprising detecting an object within the decision zone;

and activating the countermeasure in response to detecting an object within the decision zone.

17. A method as recited in claim 7 wherein activating the countermeasure system comprises activating a first countermeasure comprising pre-arming airbags and pretensioning motorized belt pretensioners, or activating the first countermeasure and a second countermeasure wherein said second countermeasure comprises adjusting the host vehicle suspension height in response to object size and orientation.