Collision warning system using driver intention estimator

• US 9,177,477 B2
• Filed: 07/15/2011
• Issued: 11/03/2015
• Est. Priority Date: 07/19/2010
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Mochizuki, Yutaka, Ishikawa, Kei
• Primary Examiner(s): Holloway, Jason
• Assistant Examiner(s): Bendidi, Rachid
• Application Number:
  US13/183,794
• Publication Number:
  US 20120016581A1
• Time in Patent Office: 1,572 Days
• Field of Search: 701/23, 701/41, 701/45, 701/46, 701/48, 701/70, 701/96, 701/300, 701/301, 701/302, 340/435, 340/436, 340/464, 340/438, 340/439, 340/417, 340/418, 340/919, 340/929, 340/932, 340/902, 340/903, 340/990
• US Class Current: 1/1
• CPC Class Codes: G08G 1/161 Decentralised systems, e.g. inter-vehicle communication
• CPC Class Codes: G08G 1/162 event-triggered
• CPC Class Codes: G08G 1/163 involving continuous checking
• 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 warning system for a subject vehicle is disclosed. The collision warning system uses data relating to the subject vehicle and a target vehicle in an algorithm to estimate the intention of the driver of the subject vehicle. The system uses historic data to improve the algorithm to obtain more accurate estimates.

Claims

1. A method of operating a collision warning system in a subject vehicle, comprising the steps of:

receiving, by an electronic control unit (ECU), information related to a target vehicle approaching an intersection, wherein the information related to the target vehicle has been transmitted by the target vehicle;

determining, based on the received information related to the target vehicle, a distance of the target vehicle from the intersection, a current speed of the target vehicle, and an acceleration of the target vehicle by the ECU;

calculating, by the ECU, an initial state of the target vehicle as the target vehicle approaches the intersection based on the distance of the target vehicle from the intersection;

calculating, by the ECU, a plurality of possible end states of the target vehicle based on the initial state, the distance of the target vehicle from the intersection, the current speed of the target vehicle, and the acceleration of the target vehicle;

predicting, by the ECU, a final end state of the plurality of possible end states based on the step of calculating the plurality of possible end states;

wherein the final end state is associated with a predicted target vehicle action selected from a plurality of vehicle actions, the plurality of vehicle actions comprising going straight through the intersection, stopping at the intersection, and making a turn at the intersection; and

initiating a providing of an alert through the collision warning system based on the predicted target vehicle action.

2. The method according to claim 1, wherein the step of calculating the plurality of possible end states is further based on a time to the intersection for the target vehicle.

3. The method according to claim 2, further comprising:

determining a state of a turn signal, yaw rate, steering wheel angle, brake status, or a combination thereof of the target vehicle based on the received information related to the target vehicle; and

wherein the step of calculating the plurality of possible end states is further based on the determined state of the turn signal, yaw rate, steering wheel angle, brake status, or a combination thereof.

4. The method according to claim 1, wherein the step of calculating the plurality of possible end states further provides probabilities for each of the plurality of possible end states.

5. The method according to claim 4, wherein the step of predicting the final end state is further based on the probabilities for each of the plurality of possible end states.

6. The method according to claim 5, wherein an end state of the plurality of possible end states with the highest probability is selected as the final end state.

7. The method according to claim 5, wherein the probabilities for each of the plurality of possible end states are dynamically updated.

8. The method according to claim 1, wherein the alert is based on the predicted target vehicle action.

9. A method of operating a collision warning system in a subject vehicle, comprising the steps of:

receiving, by an electronic control unit (ECU), information related to a target vehicle approaching an intersection, wherein the information related to the target vehicle has been transmitted by the target vehicle;

determining, based on the received information related to the target vehicle, a distance of the target vehicle from the intersection, a current speed of the target vehicle, and an acceleration of the target vehicle by the ECU;

calculating, by the ECU, an initial state of the target vehicle as the target vehicle approaches the intersection based on the distance of the target vehicle from the intersection;

calculating, by the ECU, a plurality of possible end states of the target vehicle based on the initial state, the distance of the target vehicle from the intersection, the current speed of the target vehicle, and the acceleration of the target vehicle;

predicting, by the ECU, a final end state of the plurality of possible end states based on the step of calculating the plurality of possible end states;

wherein the final end state is associated with a predicted target vehicle action selected from a plurality of vehicle actions, the plurality of vehicle actions comprising going straight through the intersection, stopping at the intersection, and making a turn at the intersection;

calculating, by the ECU, a time to an estimated collision point based on the predicted target vehicle action; and

selecting, by the ECU, an alert from a plurality of alerts based on the time to the estimated collision point, each of the plurality of alerts indicating the estimated vehicle collision point.

10. The method according to claim 9, wherein the step of calculating the plurality of possible end states is further based on a time to the intersection for the target vehicle.

11. The method according to claim 10, further comprising:

determining, by the ECU, a state of a turn signal, yaw rate, steering wheel angle, brake status, or a combination thereof of the target vehicle based on the received information related to the target vehicle;

wherein the step of calculating the plurality of possible end states is further based on the determined state of the turn signal, yaw rate, steering wheel angle, brake status, or a combination thereof.

12. The method according to claim 9, wherein the step of calculating the plurality of possible end states further provides probabilities for each of the plurality of possible end states.

13. The method according to claim 12, wherein the step of predicting the final end state is further based on the probabilities for each of the plurality of possible end states.

14. The method according to claim 13, wherein an end state of the plurality of possible end states with the highest probability is selected as the final end state.

15. The method according to claim 13, wherein the probabilities for each of the plurality of possible end states are dynamically updated.

16. A method of operating a collision warning system in a subject vehicle, comprising the steps of:

processing, by an electronic control unit (ECU), of information received from a target vehicle to;

calculate an initial state of the target vehicle as the target vehicle approaches an intersection;

calculate a plurality of possible end states of the target vehicle based on the initial state and based on a distance of the target vehicle from the intersection, a current speed of the target vehicle, and an acceleration of the target vehicle;

predict a final end state of the plurality of possible end states based on the processing to calculate the plurality of possible end states; and

wherein the final end state is associated with a predicted target vehicle action selected from a plurality of vehicle actions, the plurality of vehicle actions comprising going straight through the intersection, stopping at the intersection, and making a turn at the intersection;

initiating a providing of an alert through the collision warning system based on the predicted target vehicle action;

comparing, by the ECU, the predicted target vehicle action to the actual actions of the target vehicle; and

updating, by the ECU, probabilities between states of the target vehicle based on the step of comparing of the predicted target vehicle action to the actual actions of the target vehicle.

17. The method according to claim 16, wherein the processing to calculate the plurality of possible end states is further based on a time to the intersection for the target vehicle.

18. The method according to claim 16, wherein the processing to calculate the plurality of possible end states further provides probabilities for each of the plurality of possible end states.

19. The method according to claim 18, wherein the processing to predict the final end state is further based on the probabilities for each of the plurality of possible end states.

20. The method according to claim 19, wherein an end state of the plurality of possible end states with the highest probability is selected as the final end state.

21. A method of operating a collision warning system in a subject vehicle, comprising the steps:

receiving, by an electronic control unit (ECU), information related to the subject vehicle approaching an intersection;

receiving, by the ECU, information related to a target vehicle approaching the intersection, wherein the information related to the target vehicle has been transmitted by the target vehicle;

determining, based on the received information related to the subject vehicle, a distance of the subject vehicle from the intersection, a current speed of the subject vehicle, and an acceleration of the subject vehicle by the ECU;

determining, based on the received information related to the target vehicle, a distance of the target vehicle from the intersection, a current speed of the target vehicle, and an acceleration of the target vehicle by the ECU;

calculating, by the ECU, an initial state of the target vehicle as the target vehicle approaches the intersection based on the distance of the target vehicle from the intersection;

calculating, by the ECU, a plurality of possible end states of the target vehicle based on the initial state of the target vehicle, the distance of the target vehicle from the intersection, the current speed of the target vehicle, and the acceleration of the target vehicle;

predicting, by the ECU, a final end state of the plurality of possible end states of the target vehicle based on the step of calculating the plurality of possible end states of the target vehicle;

wherein the final end state is associated with a predicted target vehicle action selected from a plurality of vehicle actions, the plurality of vehicle actions comprising going straight through the intersection, stopping at the intersection, and making a turn at the intersection;

predicting, by the ECU, a subject vehicle action of the subject vehicle as the subject vehicle approaches the intersection based on the distance of the subject vehicle from the intersection, current speed of the subject vehicle, and acceleration of the subject vehicle, wherein the subject vehicle action is selected from the plurality of vehicle actions; and

initiating a providing of an alert through the collision warning system based on the predicted subject vehicle action and the predicted target vehicle action.

22. The method according to claim 21, wherein the step of calculating the plurality of possible end states of the target vehicle is further based on a time to the intersection for the subject vehicle, and wherein the step of calculating the plurality of possible end states of the target vehicle is further based on a time to the intersection for the target vehicle.

23. The method according to claim 21, further comprising:

determining a state of a turn signal, yaw rate, steering wheel angle, brake status, or a combination thereof of the target vehicle based on the received information related to the target vehicle; and

wherein the step of calculating the plurality of possible end states of the target vehicle is further based on the state of the turn signal, yaw rate, steering wheel angle, brake status, or a combination thereof.

24. The method according to claim 21, wherein the step of calculating the plurality of possible end states of the target vehicle further provides probabilities for each of the plurality of possible end states of the target vehicle, and wherein the step of predicting, by the ECU, of the predicted subject vehicle action provides probabilities for each of a plurality of possible end states of the subject vehicle.

25. The method according to claim 24, wherein the step of predicting the final end state of the plurality of possible end states of the target vehicle is further based on the probabilities for each of the plurality of possible end states of the target vehicle, and wherein the predicted subject vehicle action is determined by using the probabilities for each of the plurality of possible end states of the subject vehicle.

26. The method according to claim 25, wherein an end state of the plurality of possible end states of the target vehicle with the highest probability is selected as the final end state of the target vehicle, and wherein an end state of the plurality of possible end states of the subject vehicle with the highest probability is selected as a final end state of the subject vehicle.

27. The method according to claim 25, wherein the probabilities for each of the plurality of possible end states of the target vehicle are dynamically updated, and wherein the probabilities for each of the plurality of possible end states of the subject vehicle are dynamically updated.

28. The method according to claim 21, wherein the alert is based on the predicted target vehicle action and the predicted subject vehicle action.

29. A method of operating a collision warning system in a subject vehicle, comprising the steps:

receiving, by an electronic control unit (ECU), information related to the subject vehicle approaching an intersection;

receiving, by the ECU, information related to a target vehicle approaching the intersection, wherein the information related to the target vehicle has been transmitted by the target vehicle;

determining, based on the received information related to the subject vehicle, a distance of the subject vehicle from the intersection, a current speed of the subject vehicle, and an acceleration of the subject vehicle by the ECU;

determining, based on the received information related to the target vehicle, a distance of the target vehicle from the intersection, a current speed of the target vehicle, and an acceleration of the target vehicle by the ECU;

calculating, by the ECU, an initial state of the target vehicle as the target vehicle approaches the intersection based on the distance of the target vehicle from the intersection;

calculating, by the ECU, a plurality of possible end states of the target vehicle based on the initial state of the target vehicle, the distance of the target vehicle from the intersection, the current speed of the target vehicle, and the acceleration of the target vehicle;

predicting, by the ECU, a final end state of the plurality of possible end states the target vehicle based on the step of calculating the plurality of possible end states of the target vehicle;

wherein the final end state of the plurality of possible end states of the target vehicle is associated with a predicted target vehicle action selected from a plurality of vehicle actions, the plurality of vehicle actions comprising going straight through the intersection, stopping at the intersection, and making a turn at the intersection;

predicting, by the ECU, a subject vehicle action of the subject vehicle as the subject vehicle approaches the intersection based on the distance of the subject vehicle from the intersection, current speed of the subject vehicle, and acceleration of the subject vehicle, wherein the subject vehicle action is selected from the plurality of vehicle actions;

calculating, by the ECU, a time to an estimated collision point based on the predicted target vehicle action and the predicted subject vehicle action; and

selecting, by the ECU, an alert from a plurality of alerts based on the time to the estimated collision point, each of the plurality of alerts indicating the estimated vehicle collision point.

30. The method according to claim 29, wherein the step of calculating the plurality of possible end states of the target vehicle is further based on a time to the intersection for the target vehicle and the predicted subject vehicle action is further based on a time to the intersection for the subject vehicle.

31. The method according to claim 30, further comprising:

determining a state of a turn signal, yaw rate, steering wheel angle, brake status, or a combination thereof of the target vehicle based on the received information related to the target vehicle;

wherein the step of calculating the plurality of possible end states of the target vehicle is further based on the state of the turn signal, yaw rate, steering wheel angle, brake status, or a combination thereof of the target vehicle;

determining a state of a turn signal, yaw rate, steering wheel angle, brake status, or a combination thereof of the subject vehicle based on the received information related to the subject vehicle; and

wherein the predicted subject vehicle action is further based on the state of the turn signal, yaw rate, steering wheel angle, brake status, or a combination thereof of the subject vehicle.

32. The method according to claim 29, wherein the step of calculating the plurality of possible end states of the target vehicle includes providing probabilities for each of the plurality of possible end states of the target vehicle, and wherein the step of predicting, by the ECU, the subject vehicle action includes providing probabilities for each of a plurality of possible end states of the subject vehicle.

33. The method according to claim 32, wherein the step of predicting the final end state of the plurality of possible end states of the target vehicle is further based on the probabilities for each of the plurality of possible end states of the target vehicle, and wherein the predicted subject vehicle action is further based on the probabilities for each of the plurality of possible end states of the subject vehicle.

34. The method according to claim 33, wherein an end state of the plurality of possible end states of the target vehicle with the highest probability is selected as the final end state of the target vehicle, and wherein an end state of the plurality of possible end states of the subject vehicle with the highest probability is selected as a final end state of the subject vehicle.

35. The method according to claim 33, wherein the probabilities for each of the plurality of possible end states of the subject vehicle are dynamically updated.

36. A method of operating a collision warning system in a subject vehicle, comprising the steps:

processing, by an electronic control unit (ECU), of information received from a subject vehicle to;

calculate an initial state of the subject vehicle as the subject vehicle approaches an intersection;

calculate a plurality of possible end states of the subject vehicle based on the initial state and based on a distance of the subject vehicle from the intersection, a current speed of the subject vehicle, and an acceleration of the subject vehicle;

predict a final end state of the plurality of possible end states based on the step of calculating the plurality of possible end states; and

wherein the final end state is associated with a predicted subject vehicle action selected from a plurality of vehicle actions, the plurality of vehicle actions comprising going straight through the intersection, stopping at the intersection, and making a turn at the intersection;

initiating a providing of an alert through the collision warning system based on the predicted subject vehicle action;

comparing, by the ECU, the predicted subject vehicle action to the actual actions of the subject vehicle; and

updating, by the ECU, probabilities between states of the subject vehicle based on the comparing of the predicted subject vehicle action to the actual actions of the subject vehicle.

37. The method according to claim 36, wherein the processing to calculate the plurality of possible end states of the subject vehicle is further based on a time to the intersection for the subject vehicle.

38. The method according to claim 36, wherein the step of processing, by the ECU, to calculate the plurality of possible end states of the subject vehicle comprises determining probabilities for each of the plurality of possible end states of the subject vehicle.

39. The method according to claim 38, wherein processing to predict the final end state of the plurality of possible end states is further based on the probabilities for each of the plurality of possible end states of the subject vehicle.

40. The method according to claim 39, wherein an end state of the plurality of possible end states of the subject vehicle with the highest probability is selected as the final end state of the plurality of possible end states predicted.

41. A method for estimating an unsafe condition, comprising the steps:

receiving, by an electronic control unit (ECU), data relating to a target vehicle, wherein the data relating to the target vehicle has been transmitted by the target vehicle;

receiving, by the ECU, data relating to a subject vehicle;

estimating a point in time that the target vehicle will arrive at an intersection based on the received data relating to the target vehicle;

estimating a point in time that a subject vehicle will arrive at the intersection based on the received data relating to the subject vehicle;

calculating, by the ECU, an initial state of the target vehicle based on the step of estimating the point in time that the target vehicle will arrive at the intersection;

calculating, by the ECU, an initial state of the subject vehicle based on the step of estimating the point in time that the subject vehicle will arrive at the intersection;

calculating, by the ECU, a plurality of possible end states of the target vehicle based on the initial state of the target vehicle and based on a distance of the target vehicle from the intersection, a current speed of the target vehicle, and an acceleration of the target vehicle;

predicting, by the ECU, a final end state of the plurality of possible end states of the target vehicle based on the step of calculating the plurality of possible end states;

wherein the final end state of the plurality of possible end states of the target vehicle is associated with a predicted target vehicle action selected from a plurality of vehicle actions, the plurality of vehicle actions comprising going straight through the intersection, stopping at the intersection, and making a turn at the intersection;

calculating, by the ECU, a plurality of possible end states of the subject vehicle based on the initial state of the subject vehicle and based on a distance of the subject vehicle from the intersection, a current speed of the subject vehicle, and an acceleration of the subject vehicle;

predicting, by the ECU, a final end state of the plurality of possible end states of the subject vehicle based on the step of calculating the plurality of possible end states of the subject vehicle;

wherein the final end state of the plurality of possible end states of the subject vehicle is associated with a predicted subject vehicle action selected from the plurality of vehicle actions; and

providing an alarm based on the predicted target vehicle action and the predicted subject vehicle action and based on a comparison of the estimated point in time that the target vehicle will arrive at the intersection and on the estimated point in time that the subject vehicle will arrive at the intersection.

42. The method of claim 41, wherein estimating the point in time that the target vehicle and subject vehicle will arrive at an intersection includes considering the type of intersection.

43. The method of claim 41, wherein estimating the point in time that the target vehicle and subject vehicle will arrive at an intersection includes considering the relative directions of both the subject vehicle and the target vehicle.

44. The method of claim 41, wherein the step of calculating the plurality of possible end states of the target vehicle further includes determining probabilities that the target vehicle will make a left turn and right turn, and wherein the step of calculating the plurality of possible end states of the subject vehicle further includes determining probabilities that the subject vehicle will turn left and turn right.

45. The method of claim 41, wherein the step of predicting the final end state of the plurality of possible end states of the target vehicle further includes providing and updating probabilities after the target vehicle stops until the target vehicle exits the intersection, and wherein the step of predicting the final end state of the plurality of possible end states of the subject vehicle further includes providing and updating probabilities after the subject vehicle stops until the subject vehicle exits the intersection.

46. The method of claim 41, wherein the step of providing the alarm includes providing an alert when the target vehicle and the subject vehicle approach the same intersection at substantially the same time.