Driver assistant system using influence mapping for conflict avoidance path determination

  • US 9,761,142 B2
  • Filed: 09/03/2013
  • Issued: 09/12/2017
  • Est. Priority Date: 09/04/2012
  • Status: Active Grant
  • ×
    • Pin Icon | RPX Insight
    • Pin
First Claim
Patent Images

1. A driver assistance system for a vehicle, said driver assistance system comprising:

  • a plurality of sensors disposed at a vehicle equipped with said driver assistance system, wherein said plurality of sensors comprise at least one vehicle-based camera and at least one vehicle-based non-camera sensor, and wherein said plurality of sensors are operable to detect objects at least one of ahead of the equipped vehicle and sideward of the equipped vehicle;

    wherein said at least one vehicle-based non-camera sensor is selected from the group consisting of a vehicle-based radar sensor disposed at the equipped vehicle and sensing exterior of the equipped vehicle and a vehicle-based lidar sensor disposed at the equipped vehicle and sensing exterior of the equipped vehicle;

    wherein said driver assistance system includes a data processor operable to process data captured by said at least one vehicle-based non-camera sensor and said at least one vehicle-based camera to determine the presence of objects at least one of ahead of the equipped vehicle and sideward of the equipped vehicle;

    wherein, responsive to said data processing, said driver assistance system is operable to determine at least one of respective speeds of the determined objects and respective directions of travel of the determined objects;

    wherein said driver assistance system is operable to determine respective influence values for the determined objects and wherein determined respective influence values are based on a determined potential hazard to the equipped vehicle presented by the determined objects;

    wherein, responsive to the at least one of respective speeds and respective directions of travel of the determined objects and responsive to the determined respective influence values, a plurality of paths for the equipped vehicle is determined;

    wherein the determined plurality of paths is assessed by a decision algorithm that ranks each of the determined paths based on likelihood of collision along the respective determined path with one or more determined objects;

    wherein said driver assistance system ranks the determined paths based on (i) the determined speeds of the respective objects relative to the equipped vehicle for the respective determined path, (ii) determined distances to the respective objects from the equipped vehicle for the respective determined path, (iii) a level of steering intervention required for the equipped vehicle to follow the respective determined path, (iv) a level of braking required for the equipped vehicle to follow the respective determined path, and (v) a level of acceleration required for the equipped vehicle to follow the respective determined path;

    wherein said data processor processes data captured by said at least one vehicle-based non-camera sensor and said at least one vehicle-based camera to determine a respective type of object for the determined objects;

    wherein a selected path of travel is selected from the plurality of determined paths responsive at least in part to the rankings of the ranked paths and responsive at least in part to the determined types of objects along one or more of the determined paths; and

    wherein said driver assistance system selects the selected path of travel based in part on at least one of (i) a legislative consideration and (ii) an ethical consideration.

View all claims
    ×
    ×

    Thank you for your feedback

    ×
    ×