Vehicular component control methods based on blind spot monitoring

• US 7,852,462 B2
• Filed: 04/16/2007
• Issued: 12/14/2010
• Est. Priority Date: 05/08/2000
• Status: Expired due to Fees

• Current Assignee: American Vehicular Sciences LLC (Acacia Research Corporation)
• Original Assignee: Automotive Technologies International Incorporated
• Inventors: DuVall, Wilbur E., Breed, David S., Johnson, Wendell C.
• Primary Examiner(s): ALSOMIRI, ISAM A
• Application Number:
  US11/735,575
• Publication Number:
  US 20070182528A1
• Time in Patent Office: 1,338 Days
• Field of Search: 356/4.01, 356/4.03, 356 501- 504, 356/28, 342 70- 72, 701/300, 701/301, 340/903
• US Class Current: 356/4.01
• CPC Class Codes: B60Q 9/008 for anti-collision purposes
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: G01S 11/12 using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/48 Active triangulation systems, i.e. using the transmission and reflection of electromagnetic waves other than radio waves
• 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 17/89 for mapping or imaging
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 2013/9315 Monitoring blind spots
• CPC Class Codes: G01S 7/417 involving the use of neural networks
• CPC Class Codes: G01S 7/4802 using analysis of echo signal for target characterisation; Target signature; Target cross-section
• 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
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

Method for controlling a vehicular system based on the presence of an object in an environment around a vehicle with one goals being to prevent collisions between the vehicle and any objects. Infrared light is emitted from the vehicle into a portion of the environment around the vehicle and received by a sensor on the vehicle. Distance between the vehicle and an object from which the infrared light is reflected is determined based on the emission of the infrared light and reception of the infrared light. The presence of and an identification of the object from which light is reflected is/are determined based at least in part on the received infrared light. The vehicular system is controlled or adjusted based on the determination of the presence of an object in the environment around the vehicle and the identification of the object and the distance between the object and the vehicle.

Claims

1. A method for controlling a vehicular system based on the presence of an object in an environment around a vehicle, comprising:

emitting infrared light from an infrared light emitter system on the vehicle into a portion of the environment around the vehicle;

receiving infrared light from the portion of environment around the vehicle into which the infrared light is emitted by means of an infrared light receiver system on the vehicle such that the infrared light receiver system receives infrared light that is reflected by one or more objects in the portion of the environment around the vehicle;

measuring, using a processor, distance between the vehicle and an object from which the infrared light is reflected based on the emission of the infrared light and reception of the infrared light;

detecting, using a processor, edges of the object from the received infrared light;

determining, using pattern recognition and a processor, the presence of the object from which light is reflected based at least in part on the received infrared light and on the detected edges of the object;

determining, using pattern recognition and a processor, an identification of the object whose presence has been determined and from which light is reflected, the determination of the identification of the object being based at least in part on the received infrared light and on the edges of the object detected from the received infrared light using the processor, whereby different objects are determined to have different identifications based on differences in the detected edges of the objects; and

controlling or adjusting a vehicular system based on the determination of the presence of the object in the environment around the vehicle, the identification of the object, and the distance between the object and the vehicle.

2. The method of claim 1, further comprising:

determining, using a processor, velocity of the object; and

controlling or adjusting the vehicular system based on the determination of the presence of the object in the environment around the vehicle, the identification of the object, the distance between the object and the vehicle, and the velocity of the object.

3. The method of claim 1, further comprising:

monitoring the expected future path of the vehicle based on multiple position measurements; and

providing a warning by means of a warning system when the expected future path of the vehicle approaches within a threshold distance of the object.

4. The method of claim 1, wherein the distance is measured by one of the following procedures:

using structured light, measuring time of flight of the infrared light, modulating the infrared light and measuring the phase shift between the modulated, emitted and received infrared light, emitting noise, pseudonoise or code modulated infrared light in combination with a correlation technique, focusing the received infrared light, receiving infrared light at multiple locations or stereographically, range-gating the emitted and received infrared light and using triangulation.

5. The method of claim 1, wherein the infrared light emitter system comprises a continuous laser beam directing infrared light to scan in a line, further comprising controlling the scanning laser beam of infrared light such that the infrared light traverses a volume of space near the vehicle.

6. The method of claim 5, wherein the infrared light receiver system comprises a single pixel receptor.

7. The method of claim 1, wherein the infrared light receiver system comprises at least one of a CCD array, a CMOS array, an HDRC camera, a dynamic pixel camera and an active pixel camera on the vehicle to receive the reflected infrared light.

8. The method of claim 1, wherein the identification of each object is determined using a trained pattern recognition technique or a neural network.

9. The method of claim 1, further comprising forming, using a processor, at least one image of the environment around the vehicle, the determination of the identification of each object being based on analysis of the at least one image and on the measured distance between the object and the vehicle.

10. The method of claim 9, further comprising processing, using a processor, the at least one image in combination with the distance between the vehicle and the object from which the infrared light is reflected to determine the identification of the object.

11. The method of claim 1, wherein the vehicular system is a display visible to a driver of the vehicle, further comprising:

creating, using a processor, a representation of the portion of the environment around the vehicle from which infrared light is received based on the measured distance between the object and the vehicle and the determined identification of the object; and

displaying on the display icons representative of the objects and their position relative to the vehicle based on the representation.

12. The method of claim 1, wherein different types of objects have different identifications, further comprising:

providing a plurality of different icons for the different identifications of objects such that each type of object has a unique icon;

displaying on a display visible to the driver icons representative of the object and its position relative to the vehicle based on the measured distance between the object and the vehicle and the determined identification of the object; and

selecting the icon of the object being displayed based on the identification of the object which is determined based at least in part on the received infrared light such that the icons are selected based at least in part on the received infrared light.

13. The method of claim 1, further comprising monitoring the driver'"'"'s use of the steering wheel of the vehicle, the vehicular system being controlled or adjusted based on the determination of the presence of the object in the environment around the vehicle, the identification of the object, the distance between the object and the vehicle and the monitored use of the steering wheel by the driver.

14. The method of claim 1, further comprising monitoring the driver'"'"'s use of a turn signal activator of the vehicle, the vehicular system being controlled or adjusted based on the determination of the presence of the object in the environment around the vehicle, the identification of the object, the distance between the object and the vehicle and the monitored use of the turn signal activator by the driver.

15. The method of claim 1, wherein the step of controlling or adjusting the vehicular system comprises activating a warning system to sound a warning or controlling a display to display a visual signal to the driver.

16. The method of claim 1, wherein the step of controlling or adjusting the vehicular system comprises applying vibration, pressure, torque or other haptic signal to the steering wheel of the vehicle.

17. The method of claim 1, wherein the control or adjustment of the vehicular system is also based on map data including the contour of the road.

18. The method of claim 1, further comprising monitoring a driver of the vehicle'"'"'s actions which cause a change in movement of the vehicle, the vehicular system being controlled or adjusted based on the determination of the presence of the object in the environment around the vehicle, the identification of the object, the distance between the object and the vehicle and the driver'"'"'s actions.

19. The method of claim 18, wherein the step of monitoring the driver'"'"'s actions comprises monitoring the expected future path of the vehicle based on the driver'"'"'s actions, the step of controlling or adjusting the vehicular system comprising actuating a system which provides a warning when the expected future path of the vehicle approaches within a threshold distance of the object.

20. The method of claim 1, wherein the vehicular system is a display visible to a driver of the vehicle, further comprising:

creating, using a processor, a representation of the portion of the environment around the vehicle from which infrared light is received as viewed from above; and

including in the representation, icons representative of the objects in the environment around the vehicles based on the measured distance between each object and the vehicle and the determined identification of the object.

21. A method for controlling a vehicular system based on the presence of an object in an environment around a vehicle, comprising:

emitting infrared light from an infrared light emitter system on the vehicle into a portion of the environment around the vehicle;

receiving infrared light from the portion of environment around the vehicle into which the infrared light is emitted by means of an infrared light receiver system on the vehicle such that the infrared light receiver system receives infrared light that is reflected by one or more objects in the portion of the environment around the vehicle;

determining, using a processor, the position and velocity of an object in the environment around the vehicle and from which infrared light is reflected based on the emission of the infrared light and reception of the infrared light;

detecting, using a processor, edges of the object from the received infrared light;

determining, using pattern recognition and a processor, the presence of the object from which light is reflected based at least in part on the received infrared light and on the detected edges of the object;

classifying, using pattern recognition and a processor, the object from which light is reflected based on the reception of the infrared light and on the detected edges of the object such that a classification of the object is obtained using the detected edges of the object whereby different objects are determined to have different classifications based on differences in the detected edges of the objects; and

controlling or adjusting a vehicular system based on the classification of the object, and the position and velocity of the object.

22. The method of claim 21, further comprising:

monitoring the expected future path of the vehicle based on the position and velocity of the object; and

providing a warning by means of a warning system when the expected future path of the vehicle approaches within a threshold distance of the object.

23. The method of claim 21, wherein the position and velocity are measured by one of the following procedures:

using structured light, measuring time of flight of the infrared light, modulating the infrared light and measuring the phase shift between the modulated, emitted and received infrared light, emitting noise, pseudonoise or code modulated infrared light in combination with a correlation technique, focusing the received infrared light, receiving infrared light at multiple locations or stereographically, range-gating the emitted and received infrared light and using triangulation.

24. The method of claim 21, wherein the infrared light emitter system comprises a continuous laser beam directing infrared light to scan in a line, further comprising controlling the scanning laser beam of infrared light such that the infrared light traverses a volume of space near the vehicle.

25. The method of claim 24, wherein the infrared light receiver system comprises a single pixel receptor.

26. The method of claim 21, wherein the infrared light receiver system comprises at least one of a CCD array, a CMOS array, an HDRC camera, a dynamic pixel camera and an active pixel camera.

27. The method of claim 21, wherein the classification of each object is determined using a trained pattern recognition technique or a neural network.

28. The method of claim 21, further comprising forming, using a processor, at least one image of the environment around the vehicle, the classification of each object being based on analysis of the at least one image and on the determined position and velocity.

29. The method of claim 21, wherein the vehicular system is a display visible to a driver of the vehicle, further comprising:

creating, using a processor, a representation of the portion of the environment around the vehicle from which infrared light is received based on the determined position and the classification of the object; and

displaying on the display icons representative of the objects and their position relative to the vehicle based on the representation.

30. The method of claim 21, wherein different types of objects have different identifications, further comprising:

providing a plurality of different icons for the different identifications of objects such that each type of object has a unique icon;

displaying on a display visible to the driver icons representative of the object and its position relative to the vehicle based on the measured distance between the object and the vehicle and the determined identification of the object; and

selecting the icon of the object being displayed based on the identification of the object which is determined based at least in part on the received infrared light such that the icons are selected based at least in part on the received infrared light.

31. The method of claim 21, further comprising monitoring the driver'"'"'s use of the steering wheel of the vehicle, the vehicular system being controlled or adjusted based on the classification of the object, the position and velocity of the object and the monitored use of the steering wheel by the driver.

32. The method of claim 21, further comprising monitoring the driver'"'"'s use of a turn signal activator of the vehicle, the vehicular system being controlled or adjusted based on the classification of the object, the position and velocity of the object and the monitored use of the turn signal activator by the driver.

33. The method of claim 21, wherein the step of controlling or adjusting the vehicular system comprises activating a warning system to sound a warning or controlling a display to display a visual signal to the driver.

34. The method of claim 21, wherein the step of controlling or adjusting the vehicular system comprises applying vibration, pressure, torque or other haptic signal to the steering wheel of the vehicle.

35. The method of claim 21, wherein the control or adjustment of the vehicular system is also based on map data including the contour of the road.

36. The method of claim 21, further comprising monitoring a driver of the vehicle'"'"'s actions which cause a change in movement of the vehicle, the vehicular system being controlled or adjusted based on the classification of the object, the position and velocity of the object and the driver'"'"'s actions.

37. The method of claim 36, wherein the step of monitoring the driver'"'"'s actions comprises monitoring the expected future path of the vehicle based on the driver'"'"'s actions, the step of controlling or adjusting the vehicular system comprising actuating a system which provides a warning when the expected future path of the vehicle approaches within a threshold distance of the object.

38. The method of claim 21, wherein the vehicular system is a display visible to a driver of the vehicle, further comprising:

creating, using a processor, a representation of the portion of the environment around the vehicle from which infrared light is received as viewed from above; and

including in the representation, icons representative of the objects in the environment around the vehicles based on the measured distance between each object and the vehicle and the classification of the object.

39. A method for controlling a vehicular system based on the presence of an object in an environment around a vehicle in order to control movement of the vehicle, comprising:

emitting infrared light from an infrared light emitter system on the vehicle into a portion of the environment around the vehicle;

receiving infrared light from the portion of environment around the vehicle into which the infrared light is emitted by means of an infrared light receiver system on the vehicle such that the infrared light receiver system receives infrared light that is reflected by one or more objects in the portion of the environment around the vehicle;

measuring, using a processor, distance between the vehicle and an object from which the infrared light is reflected based on the emission of the infrared light and reception of the infrared light;

detecting, using a processor, edges of the object from the received infrared light;

determining, using pattern recognition and a processor, the presence of the object from which light is reflected based at least in part on the received infrared light and the detected edges of the object;

determining, using pattern recognition and a processor, an identification of the object whose presence has been determined and from which light is reflected, the determination of the identification of the object being based at least in part on the received infrared light and on the edges of the object detected from the received infrared light using the processor, whereby different objects are determined to have different identifications based on differences in the detected edges of the objects; and

controlling or adjusting a vehicular system based on the determination of the presence of the object in the environment around the vehicle, the identification of the object and the distance between the object and the vehicle such that the manner in which the vehicular system is controlled or adjusted varies depending on the identification of the object,

the vehicular system being one which controls movement of the vehicle or which indicates intended movement of the vehicle.

40. A method for controlling a vehicular system based on the presence of an object in an environment around a vehicle in order to control movement of the vehicle, comprising:

emitting infrared light from an infrared light emitter system on the vehicle into a portion of the environment around the vehicle;

receiving infrared light from the portion of environment around the vehicle into which the infrared light is emitted by means of an infrared light receiver system on the vehicle such that the infrared light receiver system receives infrared light that is reflected by one or more objects in the portion of the environment around the vehicle;

determining, using a processor, the position and velocity of an object in the environment around the vehicle and from which infrared light is reflected based on the emission of the infrared light and reception of the infrared light;

detecting, using a processor, edges of the object from the received infrared light;

determining, using pattern recognition and a processor, the presence of the object from which light is reflected based at least in part on the received infrared light and on the detected edges of the object;

classifying, using pattern recognition and a processor, the object from which light is reflected as being one of a plurality of different objects based on the reception of the infrared light and the detected edges of the object such that a classification of the object is obtained using the detected edges of the object whereby different objects are determined to have different classifications based on differences in the detected edges of the objects; and

controlling or adjusting a vehicular system based on the classification of the object and the position and velocity of the object such that the manner in which the vehicular system is controlled or adjusted varies depending on the classification of the object,

the vehicular system being one which controls movement of the vehicle or which indicates intended movement of the vehicle.