Vehicle collision avoidance system

• US 8,170,787 B2
• Filed: 04/15/2008
• Issued: 05/01/2012
• Est. Priority Date: 04/15/2008
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Coats, Robert Martin, Pavlik, David Robert, Subramanian, Ramkumar, Edwards, David
• Primary Examiner(s): Algahaim, Helal A
• Application Number:
  US12/081,345
• Publication Number:
  US 20090259400A1
• Time in Patent Office: 1,477 Days
• Field of Search: 701/301, 342 43- 51, 342 65- 66, 342/69, 342/76, 342/77, 342 94- 97, 342104-118, 342/126, 342/139, 342/146, 342147-158, 342/357.06, 342/357.08
• US Class Current: 701/301
• CPC Class Codes: G01S 13/867 Combination of radar systems with cameras
• CPC Class Codes: G01S 13/87 Combinations of radar systems, e.g. primary radar and secondary radar
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 15/86 Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
• 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 2013/9315 Monitoring blind spots
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9323 Alternative operation using light waves
• CPC Class Codes: G01S 2013/9324 Alternative operation using ultrasonic waves
• CPC Class Codes: G01S 2013/93275 in the bumper area
• CPC Class Codes: G01S 7/412 based on a comparison between measured values and known or stored values
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• 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

A collision avoidance system for a machine is disclosed. The collision avoidance system has a first obstacle detection system. The first obstacle detection system is configured to detect a first obstacle and generate a corresponding first signal. Additionally, the collision avoidance system has an operator interface. The operator interface has a display configured to communicate visual information to an operator. In addition, the collision avoidance system has an interface module configured to detect a status of the machine and generate a corresponding second signal. The collision avoidance system also has a controller. The controller is in communication with the first obstacle detection system, the operator interface, and the interface module. The controller is configured to control the display to indicate a dangerous obstacle detection to the operator, based on the first and second signals. Additionally, the controller is configured to control the display to provide a dangerous obstacle warning to the operator, based on the first and second signals.

Claims

1. A collision avoidance system for a machine, comprising:

a first obstacle detection system configured to detect a first obstacle and generate a corresponding first signal;

an operator interface including a display configured to communicate visual information to an operator;

an interface module configured to detect a status of the machine and generate a corresponding second signal; and

a controller in communication with the first obstacle detection system, the operator interface, and the interface module, and configured to;

control the display to indicate an obstacle detection to the operator, based on the first and second signals; and

control the display to provide an obstacle warning to the operator, based on the first and second signals,

determine a ground speed of the machine;

determine a distance since the ground speed of the machine was last zero;

control at least a portion of the display to suppress the indication of the obstacle detection based on the distance since the ground speed of the machine was last zero being more than a threshold distance; and

the ground speed of the machine being above a threshold speed.

2. The collision avoidance system of claim 1, wherein the status of the machine includes at least one of the ground speed of the machine, a gear selection of a transmission of the machine, a steering angle of the machine, and the distance traveled by the machine.

3. The collision avoidance system of claim 1, wherein indicating the obstacle detection includes controlling a first portion of the display to communicate a visual representation of a map.

4. The collision avoidance system of claim 3, wherein providing the obstacle warning includes altering the visual representation of the map.

5. The collision avoidance system of claim 3, wherein the controller is further configured to control a second portion of the display to communicate a status of the collision avoidance system.

6. The collision avoidance system of claim 3, further including a first camera situated to capture images of a first blind spot of the machine and configured to generate a corresponding third signal, wherein:

the detection of the first obstacle is within the first blind spot;

the controller is in further communication with the first camera; and

the display is controlled, based further on the third signal.

7. The collision avoidance system of claim 6, further including a second obstacle detection system configured to detect a second obstacle within a second blind spot of the machine and generate a corresponding fourth signal, wherein the controller is in further communication with the second obstacle detection system and at least one of:

the indication of the obstacle detection is based further on the fourth signal; and

the provision of the obstacle warning is based further on the fourth signal.

8. The collision avoidance system of claim 7, further including a second camera situated to capture images of the second blind spot, and configured to generate a corresponding fifth signal, wherein the controller is in further communication with the second camera, and is further configured to control a second portion of the display to communicate the captured images of one of the first and second blind spots, based on the second, and one of the third and fifth signals.

9. The collision avoidance system of claim 7, wherein the first camera is situated to capture images of the first blind spot of the machine and the second blind spot of the machine.

20. The collision avoidance system of claim 1, wherein the controller suppresses obstacle detection by causing the at least a portion of the display to display a static image.

21. The collision avoidance system of claim 20, wherein the static image comprises diagonal lines.

22. The collision avoidance system of claim 1, wherein the controller is configured to determine the distance since the ground speed of the machine was last zero after each full stop made by the machine.

24. The collision avoidance system of claim 3, wherein the at least portion of the display is first portion.

10. An off-highway haul truck, comprising:

an operator station; and

a collision avoidance system including;

a first obstacle detection system configured to detect a first obstacle and generate a corresponding first signal;

an operator interface situated within the operator station and including a display configured to communicate visual information to an operator;

an interface module configured to detect a status of the haul truck and generate a corresponding second signal; and

a controller in communication with the first obstacle detection system, the operator interface, and the interface module, and configured to;

determine a ground speed of the haul truck;

determine a distance since the ground speed of the machine was last zero;

control the display to indicate an obstacle detection to the operator, based on the first and second signals;

control the display to provide an obstacle warning to the operator, based on the first and second signals, wherein the controller is configured to control at least a portion of the display to suppress the indication of the obstacle detection based on;

the ground speed of the haul truck being above a threshold speed; and

the distance since the ground speed of the haul truck was last zero being more than a threshold distance.

11. The haul truck of claim 10, wherein the status of the haul truck includes at least one of the ground speed of the haul truck, a gear selection of a transmission of the haul truck, a steering angle of the haul truck, and the distance traveled by the haul truck.

12. The haul truck of claim 10, wherein:

the collision avoidance system further includes a first camera situated to capture images of a first blind spot of the haul truck and configured to generate a corresponding third signal;

the detection of the first obstacle is within the first blind spot;

the controller is in further communication with the first camera; and

the display is controlled, based further on the third signal.

13. The haul truck of claim 12, wherein the collision avoidance system further includes a second obstacle detection system configured to detect a second obstacle within a second blind spot of the haul truck and generate a corresponding fourth signal, wherein the controller is in further communication with the second obstacle detection system and at least one of:

the indication of the obstacle detection is based further on the fourth signal; and

the provision of the obstacle warning is based further on the fourth signal.

14. The haul truck of claim 13, wherein the collision avoidance system further includes a second camera situated to capture images of the second blind spot, and configured to generate a corresponding fifth signal, wherein the controller is in further communication with the second camera, and is further configured to control a first portion of the display to communicate the captured images of one of the first and second blind spots, based on the second, and one of the third and fifth signals.

15. The haul truck of claim 13, wherein the first camera is situated to capture images of the first blind spot of the haul truck and the second blind spot of the haul truck.

23. The haul truck of claim 10, wherein the controller is configured to determine the distance since the ground speed of the haul truck was last zero after each full stop made by the haul truck.

16. A collision avoidance system for a machine, comprising:

a first obstacle detection system configured to detect a first obstacle and generate a corresponding first signal;

an operator interface including a display configured to communicate visual information to an operator;

an interface module configured to detect a status of the machine and generate a corresponding second signal; and

a controller in communication with the first obstacle detection system, the operator interface, and the interface module, and configured to

control the display to indicate an obstacle detection to the operator, based on the first and second signals,

determine a ground speed of the machine;

determine a distance since the ground speed of the machine was last zero after each full stop made by the machine; and

control at least a portion of the display to suppress the indication of the obstacle detection based on;

the ground speed of the machine being above a threshold speed; and

the distance since the ground speed of the machine was last zero being more than a threshold distance.

17. The collision avoidance system of claim 16, wherein the controller is further configured to stop suppressing the obstacle detection when the ground speed of the machine is zero.

18. The collision avoidance system of claim 16, wherein the machine is an off-highway haul truck and the display is an LCD screen.

19. The collision avoidance system of claim 18, wherein the controller is configured to determine a steering angle of the machine upon turning of the machine and display on the display images from a camera directed generally in the direction of the turn.