Vehicle operation safety model compliance measurement

Patent metadata

Field	Value
Publication number	US-11697406-B2
Application number	US-202117789712-A
Country	US
Kind code	B2
Filing date	Nov 19, 2021
Priority date	Nov 19, 2020
Publication date	Jul 11, 2023
Grant date	Jul 11, 2023

Abstract

System and techniques for vehicle operation safety model (VOSM) compliance measurement are described herein. A subject vehicle is tested in a vehicle following scenario against VOSM parameter compliance. The test measures the subject vehicle activity during phases of the following scenario in which a lead vehicle slows and produces log data and calculations that form the basis of a VOSM compliance measurement.

First claim

The invention claimed is:

1. An apparatus for vehicle operation safety model compliance measurement, the apparatus comprising:
an interface to receive data from an external sensor;
an internal sensor to measure changes in acceleration; and
processing circuitry configured to:
measure, from data produced by the external sensor, a distance between a test vehicle and a front vehicle when the test vehicle and the front vehicle are in motion and the test vehicle is following the front vehicle;
measure, using the internal sensor, changes in acceleration of the test vehicle;
mark a first time in response to braking by the front vehicle;
detect, from the distance between the test vehicle and the front vehicle, that the test vehicle has entered a dangerous situation, the dangerous situation occurring when the distance between the test vehicle and the front vehicle is less than or equal to a minimum safe distance as defined by the vehicle operation safety model to mark a second time;
detect, from the changes in acceleration of the test vehicle, braking by the test vehicle to mark a third time, a difference between the second time and the third time being a response time for the test vehicle;
detect a stop by the test vehicle and the front vehicle to mark a fourth time;
write to a log:
the distance between the test vehicle and the front vehicle between the first time and the fourth time;
the response time;
acceleration, from the changes in acceleration of the test vehicle, of the test vehicle between the second time and the second time plus the response time; and
deceleration, from the changes in acceleration of the test vehicle, of the test vehicle between the second time plus the response time and the fourth time;

calculate, using data from the log, a maximum acceleration of the test vehicle during the response time;
calculate, using data from the log, a minimum braking deceleration of the test vehicle after the response time; and
produce a compliance measurement for the test vehicle by comparing the distance between the test vehicle and the front vehicle between the first time and the fourth time, the response time, the maximum acceleration, and the minimum braking; deceleration to respective predefined values.

2. The apparatus of claim 1 , wherein the processing circuitry is configured to write the second time indicating that the test vehicle entered the dangerous situation to the log.

3. The apparatus of claim 2 , wherein, to produce the compliance measurement for the distance between the test vehicle and the front vehicle between the first time and the fourth time, the processing circuitry is configured to:
indicate compliance for the distance between the test vehicle and the front vehicle between the first time and the fourth time in response to the distance between the test vehicle and the front vehicle between the first time and the fourth time being greater than or equal to a predefined safe distance margin in the predefined values.

4. The apparatus of claim 1 , wherein, to produce the compliance measurement for the response time, the processing circuitry is configured to:
indicate compliance for the response time in response to the response time being less than or equal to a deviation caused by measurement instrument and a predefined response time in the predefined values.

5. The apparatus of claim 1 , wherein, to produce the compliance measurement for the maximum acceleration, the processing circuitry is configured to:
indicate compliance for the maximum acceleration in response to the maximum acceleration being less than or equal to a deviation caused by a road surface and a predefined maximum acceleration in the predefined values.

6. The apparatus of claim 1 , wherein, to produce the compliance measurement for the minimum braking deceleration, the processing circuitry is configured to:
indicate compliance in response to a predefined minimum braking deceleration plus a first deviation caused by a road surface under braking being less than or equal to the minimum braking deceleration being less than or equal to a predefined maximum acceleration plus a second deviation cause by the road surface under acceleration, the predefined minimum braking deceleration and the predefined maximum acceleration being in the predefined values.

7. The apparatus of claim 1 , wherein the test vehicle is at twenty percent maximum velocity prior to the first time.

8. The apparatus of claim 1 , wherein the test vehicle is at fifty percent maximum velocity prior to the first time.

9. The apparatus of claim 1 , wherein the test vehicle is at eighty percent maximum velocity prior to the first time.

10. The apparatus of claim 1 , wherein the test vehicle and the front vehicle are at a constant speed prior to the first time.

11. The apparatus of claim 1 , wherein the test vehicle is at maximum acceleration at the first time.

12. The apparatus of claim 1 , wherein the distance between the test vehicle and the front vehicle when the test vehicle and the front vehicle are moving with the test vehicle following the front vehicle is measured by a sensor with a margin of error less than or equal to a tenth of a meter.

13. The apparatus of claim 1 , wherein the changes in the acceleration of the test vehicle are measured by a sensor with a margin of error less than or equal to a tenth of a meter per second squared.

14. The apparatus of claim 1 , wherein the response time has a margin of error less than or equal to ten milliseconds.

15. A method for vehicle operation safety model compliance measurement, the method comprising:
measuring a distance between a test vehicle and a front vehicle when the test vehicle and the front vehicle are in motion and the test vehicle is following the front vehicle;
measuring changes in acceleration of the test vehicle;
marking a first time in response to braking by the front vehicle;
detecting, from the distance between the test vehicle and the front vehicle, that the test vehicle has entered a dangerous situation, the dangerous situation occurring when the distance between the test vehicle and the front vehicle is less than or equal to a minimum safe distance as defined by the vehicle operation safety model to mark a second time;
detecting, from the changes in acceleration of the test vehicle, braking by the test vehicle to mark a third time, a difference between the second time and the third time being a response time for the test vehicle;
detecting a stop by the test vehicle and the front vehicle to mark a fourth time;
logging:
the distance between the test vehicle and the front vehicle between the first time and the fourth time;
the response time;
acceleration, from the changes in acceleration of the test vehicle, of the test vehicle between the second time and the second time plus the response time; and
deceleration, from the changes in acceleration of the test vehicle, of the test vehicle between the second time plus the response time and the fourth time;

calculating, from the logging, a maximum acceleration of the test vehicle during the response time;
calculating, from the logging, a minimum braking deceleration of the test vehicle the response time; and
producing a compliance measurement for the test vehicle by comparing the distance between the test vehicle and the front vehicle between the first time and the fourth time, the response time, the maximum acceleration, and the minimum braking deceleration to respective predefined values.

16. The method of claim 15 , wherein the logging includes logging the second time indicating that the test ve

Assignees

• Mobileye Vision Technologies Ltd
• Zhu Qianying
• Guo Ping
• Zhang Xinxin
• Li Fei
• Wu Xiangbin

Inventors

• Zhu Qianying
• Guo Ping
• Zhang Xinxin
• Li Fei
• Wu Xiangbin

Classifications

• B60T8/171

  Detecting parameters used in the regulation; Measuring values used in the regulation · CPC title

• B60T2270/406

  Test-mode; Self-diagnosis · CPC title

• B60T2210/32

  Vehicle surroundings · CPC title

• B60T2250/04

  Vehicle reference speed; Vehicle body speed · CPC title

• B60T17/221 Primary

  Procedure or apparatus for checking or keeping in a correct functioning condition of brake systems (hydraulic pressure systems in general F15B19/00, F15B21/04; testing structures or apparatus G01M) · CPC title