Consistent behavior generation of a predictive advanced driver assistant system

• US 9,463,806 B2
• Filed: 08/19/2014
• Issued: 10/11/2016
• Est. Priority Date: 08/22/2013
• Status: Active Grant

• Current Assignee: Honda Research Institute Europe GmbH (Honda Motor Company)
• Original Assignee: Honda Research Institute Europe GmbH (Honda Motor Company)
• Inventors: Rebhan, Sven
• Primary Examiner(s): Trivedi, Atul
• Application Number:
  US14/462,771
• Publication Number:
  US 20150057907A1
• Time in Patent Office: 784 Days
• Field of Search: 701/1, 701/70, 701/93
• US Class Current: 1/1
• CPC Class Codes: B60T 2201/024 Collision mitigation systems
• CPC Class Codes: B60T 7/12 for automatic initiation; for initiation not subject to will of driver or passenger limiting speed of vehicles other than rail vehicles B60K31/00
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60W 2050/0056 Low-pass filters
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence
• CPC Class Codes: B60W 50/0097 Predicting future conditions
• CPC Class Codes: B60W 50/06 Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot

Abstract

The invention relates to a driver assistance system for a vehicle, the vehicle comprising at least one sensor means, at least one actuating means and a control means. The method comprises the steps of generating a decision signal by a first evaluation of sensor data acquired by the sensor means, generating an activation signal for the actuating means when the decision signal exceeds a signal threshold, generating a interrupt decision signal based on a second evaluation, stabilizing the activation signal in a temporal manner, deciding based on the decision interrupt signal if to interrupt stabilizing the activation signal, and interrupting stabilizing the activation signal, when it is decided to interrupt stabilizing the activation signal.

Claims

1. A method for a driver assistance system for a vehicle, the vehicle comprising at least one sensor means, at least one actuating means and a control means, the method comprising steps of:

generating a decision signal by a first evaluation of sensor data acquired by the sensor means;

generating an activation signal for the actuating means when the decision signal exceeds a signal threshold, wherein the activation signal performs an active driving control of the vehicle by the actuating means;

generating an interrupt decision signal based on a second evaluation;

stabilizing the activation signal in a temporal manner for preventing the activation signal from fluctuating;

deciding based on the decision interrupt signal if to interrupt the stabilizing of the activation signal; and

interrupting the stabilizing of the activation signal, when it is decided to interrupt stabilizing the activation signal.

2. The method according to claim 1, wherein the decision signal is temporally filtered with a low-pass filter.

3. The method according to claim 1, wherein the activation signal is generated based on the decision signal taking a hysteresis into account.

4. The method according to claim 1, wherein the activation signal is maintained for a predetermined time when the decision signal returns to a value below the signal threshold.

5. The method according to claim 1, wherein stabilizing the activation signal in a temporal manner comprises stabilizing the activation signal for a predetermined time.

6. The method according to claim 1, wherein the second evaluation comprises evaluating of one or more parameters, the parameters comprising at least one vehicle indicator and/or at least one environment indicator and/or at least one further vehicle indicator to generate the interrupt decision signal.

7. The method according to claim 1, wherein the signal threshold is predetermined.

8. The method according to claim 1, wherein the signal threshold is determined dynamically based on the sensor data and/or an internal state of the vehicle.

9. The method according to claim 1, wherein the decision interrupt signal comprises a lane change signal for a further vehicle.

10. The method according to claim 9, wherein the lane change signal for the further vehicle is issued before the further vehicle changes a lane.

11. The method according to claim 1, wherein the activation signal is a brake signal.

12. A computer program product embodied in a non-transitory computer-readable medium and encoding instructions for a driver assistance system for a vehicle, the vehicle comprising at least one sensor means, at least one actuating means, and a control means, that when executed on hardware, performs a process, the process comprising:

generating a decision signal by a first evaluation of sensor data acquired by the sensor means;

generating an activation signal for the actuating means when the decision signal exceeds a signal threshold, wherein the activation signal performs an active driving control of the vehicle via the actuating means;

generating an interrupt decision signal based on a second evaluation;

stabilizing the activation signal in a temporal manner for preventing the activation signal from fluctuating;

deciding based on the decision interrupt signal if to interrupt the stabilizing of the activation signal; and

interrupting the stabilizing of the activation signal, when it is decided to interrupt stabilizing the activation signal.

13. A driver assistance system for controlling a vehicle, the driver assistance system comprising:

at least one sensor means configured to acquire sensor data;

at least one actuating means configured to perform a control action for the vehicle; and

a control means, the control means comprising;

first evaluation means configured to generate a decision signal from the sensor data acquired by the sensor means;

activation decision means configured to generate an activation signal for the control action when the decision signal exceeds a signal threshold, wherein the activation signal performs an active driving control of the vehicle by an actuating means of the vehicle;

second evaluation means configured to generate an interrupt decision signal;

stabilization means configured to stabilize the activation signal in a temporal manner, and prevent the activation signal from fluctuating; and

interrupt decision means configured to decide based on the decision interrupt signal whether to interrupt the stabilizing of the activation signal;

wherein the stabilization means is configured to interrupt the stabilizing the of activation signal when it is decided to interrupt stabilizing the activation signal.

14. The system according to claim 13, wherein the control means comprises filter means configured to temporally filter the decision signal with a low-pass filter.

15. The system according to claim 13, wherein the control means is configured to stabilize the activation signal taking a hysteresis into account.

16. The system according to claim 13, wherein the activation means is configured to maintain the stabilized activation signal for a predetermined time when the decision signal returns to a value below the signal threshold.

17. The system according to claim 13, wherein the activation means is configured to stabilize the activation signal in a temporal manner by stabilizing the activation signal for a predetermined time.

18. The system according to claim 13, wherein the system or the method is included in an adaptive cruise control system.

19. The system according to claim 13, wherein the second evaluation means is configured to evaluate one or more parameters, the parameter comprising at least one vehicle indicator and/or at least one environment indicator and/or at least one further vehicle indicator to generate the interrupt decision signal.

20. The system according to claim 13, wherein the second evaluation comprises evaluating input data comprising the sensor data based on a classification algorithm,

wherein the classification algorithm comprises a support-vector-machine algorithm or a nearest-neighbour-classifier algorithm.

21. The system according to claim 13, wherein the first evaluation comprises generating the decision signal based on context-based prediction.