Virtual hazard inference system

Patent metadata

Field	Value
Publication number	US-12344237-B2
Application number	US-202217958228-A
Country	US
Kind code	B2
Filing date	Sep 30, 2022
Priority date	Sep 30, 2022
Publication date	Jul 1, 2025
Grant date	Jul 1, 2025

Abstract

A vehicle includes a vehicle engine, a steering control unit, an on-board sensor network and a virtual hazard inference system. The vehicle engine generates a torque output of the vehicle. The steering control unit controls a steering angle of the vehicle. The on-board sensor network is programmed to detect external objects within a detection zone. The virtual hazard inference system has a processor programmed to infer a presence of an occluded object that is not detected by the on-board sensor network. The processor controls the vehicle engine and the steering control unit to perform at least one of a torque control operation and a steering control operation.

First claim

What is claimed is:

1. A vehicle comprising:
a vehicle engine generating a torque output of the vehicle;
a steering control unit controlling a steering angle of the vehicle;
an on-board sensor network programmed to detect external objects within a detection zone; and
a virtual hazard inference system having a processor programmed to infer a presence of an occluded object that is not detected by the on-board sensor network based on a density of detected external objects in the detection zone, the processor controlling the vehicle engine and the steering control unit to perform at least one of a torque control operation and a steering control operation.

2. The vehicle according to claim 1 , wherein
the processor of the virtual hazard inference system is programmed to control the vehicle engine to decrease the torque output to decelerate the vehicle upon determining the presence of the occluded object.

3. The vehicle according to claim 2 , wherein
the processor of the virtual hazard inference system is programmed to cause an adjustment to a navigation path of the vehicle upon determining the presence of the occluded object.

4. The vehicle according to claim 1 , wherein
the processor of the virtual hazard inference system is programmed to control the steering control unit to alter the steering angle of the vehicle upon determining the presence of the occluded object such that the steering control unit steers the vehicle in a direction away from the occluded object.

5. The vehicle according to claim 1 , wherein
the processor of the virtual hazard inference system is programmed to automatically infer that the occluded object is moving in a direction towards the vehicle's navigation path.

6. The vehicle according to claim 5 , wherein
the processor of the virtual hazard inference system is further programmed to infer a speed that the occluded object is moving based on an average speed of detected external objects within the detection zone of the on-board sensor network.

7. The vehicle according to claim 6 , wherein
in the event that the processor determines that none of the detected external objects are moving, the processor is programmed to infer the speed of the occluded object based on an average size of the detected external objects within the detection zone of the on-board sensor network.

8. The vehicle according to claim 1 , further comprising
an on-board satellite navigation device in communication with a global positioning system unit to acquire real-time information regarding conditions near the vehicle's vicinity, and
a telematics control unit in wireless communication with at least one of a cloud services and a vehicle network to upload and receive crowdsourced information regarding conditions near the vehicle's vicinity.

9. The vehicle according to claim 8 , wherein
the processor of the virtual hazard inference system is further programmed to infer the presence of the occluded object based at least one of
previous navigation experience in the detection zone,
a range of the detection zone,
information acquired by the satellite navigation device, and
information acquired by the telematics control unit and on-board sensor network.

10. The vehicle according to claim 1 , wherein
the processor is programmed to determine a region of interest based on information received by the on-board sensor network, and the processor is further programmed to classify one or more hazards in the region of interest, a hazard being an external object that is capable of moving into the vehicle's navigation path.

11. The vehicle according to claim 10 , wherein
the processor is further programmed to classify the one or more hazards as one of a mobile hazard and a stationary hazard.

12. The vehicle according to claim 11 , wherein
the processor is further programmed to determine a probability that the region of interest includes an occluded hazard based on classifying the detected hazards.

13. The vehicle according to claim 12 , wherein
the processor of the virtual hazard inference system is programmed to adjust the navigation path of the vehicle upon determining that the probability exceeds the predetermined threshold.

14. The vehicle according to claim 1 , wherein
the processor is programmed to further infer the presence of occluded objects not detected by the on-board sensor network based on previous navigation experience in the detection zone.

15. A method for controlling a vehicle based on an inferred virtual hazard, the method comprising:
detecting a presence of external objects within a detection zone by an on-board sensor network;
inferring a presence of an occluded object that is not detected by the on-board sensor network by a processor of a virtual hazard inference system based on a density of detected external objects in the detection zone; and
controlling a vehicle engine of the vehicle by the processor to decrease a torque output to decelerate the vehicle upon determining the presence of the occluded object.

16. The method according to claim 15 , further comprising
controlling a steering control unit of the vehicle to alter the steering angle of the vehicle upon determining the presence of the occluded object such that the steering control unit steers the vehicle in a direction away from the occluded object.

17. The method according to claim 16 , further comprising
inferring that the occluded object is moving in a direction towards the vehicle's navigation path by the processor.

18. The method according to claim 17 , further comprising
inferring a speed of the occluded object by a processor based on an average speed of detected external objects within the detection zone of the on-board sensor network.

19. The method according to claim 18 , further comprising
inferring the speed of the occluded object based on an average size of the detected external objects within the detection zone of the on-board sensor network by the processor in the event that the processor determines that none of the detected external objects are moving.

20. The method according to claim 19 , further comprising
inferring the presence of the occluded object by the processor based at least one of
previous navigation experience in the detection zone,
a range of the detection zone,
information acquired by the satellite navigation device, and
information acquired by the telematics control unit and on-board sensor network.

Assignees

• Nissan North America Inc

Inventors

• Tam Qizhan
• Ostafew Christopher

Classifications

• B60W30/0956

  the prediction being responsive to traffic or environmental parameters · CPC title

• B60W2554/4026

  Cycles · CPC title

• B60W2554/20

  Static objects · CPC title

• B60W10/20

  including control of steering systems · CPC title

• B60W10/06

  including control of combustion engines · CPC title