Vehicle collision avoidance system with enhanced pedestrian avoidance

  • US 9,925,980 B2
  • Filed: 09/15/2015
  • Issued: 03/27/2018
  • Est. Priority Date: 09/17/2014
  • Status: Active Grant
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First Claim
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1. A collision avoidance system of a vehicle, said collision avoidance system comprising:

  • a sensor configured to be disposed at a vehicle for sensing exterior and forwardly of the vehicle;

    a processor operable to process sensor data captured by said sensor to determine the presence of a pedestrian who is ahead of the vehicle and is outside of a projected path of travel of the vehicle and is moving on a path of travel towards the projected path of travel of the vehicle;

    wherein said processor, responsive to processing of sensor data captured by said sensor, determines an intersection point where the projected path of travel of the vehicle intersects the path of travel of the determined pedestrian;

    wherein said processor, responsive to processing of sensor data captured by said sensor, determines a distance of the determined pedestrian to the intersection point and determines a moving speed of the determined pedestrian;

    wherein said processor determines a vehicle time to intersection point, and wherein the determined vehicle time to intersection point is the time until the vehicle reaches the determined intersection point as determined based on the assumption that the vehicle will continue to move along its projected path of travel at the current speed of the vehicle;

    wherein said processor determines where the pedestrian will be along the path of travel of the pedestrian when the vehicle time to intersection point elapses based on (i) the determined distance of the determined pedestrian to the intersection point, and (ii) the determined moving speed of the determined pedestrian, and wherein the determined location of the pedestrian along the path of travel of the pedestrian when the vehicle time to intersection point elapses is the location of the pedestrian as determined based on the assumption that the pedestrian will continue to move along the path of travel of the pedestrian at the determined moving speed of the pedestrian until the vehicle time to intersection point elapses;

    wherein said processor determines a corridor of the projected path of travel of the vehicle that has a width that is wider than the vehicle width;

    wherein, responsive to determination that the determined pedestrian will be within the corridor of the projected path of travel when the vehicle time to intersection point elapses, said collision avoidance system generates an alert to the driver of the vehicle;

    wherein said collision avoidance system adjusts the width of the corridor responsive to a parameter indicative of a driving condition of the vehicle; and

    wherein said parameter comprises at least one parameter selected from the group consisting of (i) a vehicle parameter pertaining to the current traction of the vehicle, (ii) an environment parameter pertaining to the environment in which the vehicle is traveling, (iii) a location parameter pertaining to the geographical current location of the vehicle, (iv) a location and time parameter pertaining to the current geographical location of the vehicle and a particular event time associated with that location and (v) a driver attentiveness parameter pertaining to a determined attentiveness of the driver of the vehicle.

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