Pedestrian-intent-detection for automated vehicles

Patent metadata

Field	Value
Publication number	US-9604639-B2
Application number	US-201514838826-A
Country	US
Kind code	B2
Filing date	Aug 28, 2015
Priority date	Aug 28, 2015
Publication date	Mar 28, 2017
Grant date	Mar 28, 2017

Abstract

A pedestrian-intent-detection system for automated operation of a host-vehicle (e.g. automated vehicle) includes an object-detection device and a controller. The object-detection device is operable to detect an object proximate to a host-vehicle. The controller is in communication with the object-detection device. The controller is configured to determine when the object detected by the object-detection device is a pedestrian based on a detection-characteristic of the pedestrian indicated by the object-detection device. The controller is further configured to define a size of a caution-area located proximate to the pedestrian based on a behavior-characteristic (e.g. intent) of the pedestrian indicated by the object-detection device. The controller is further configured to operate (e.g. brake, steer) the host-vehicle in order to avoid the caution-area.

First claim

We claim:

1. A pedestrian-intent-detection system for automated operation of a host-vehicle, said system comprising:
an object-detection device operable to detect an object proximate to a host-vehicle; and
a controller in communication with the object-detection device, said controller configured to
determine when the object detected by the object-detection device is a pedestrian based on a detection-characteristic of the pedestrian indicated by the object-detection device,
define a size of a caution-area located proximate to the pedestrian based on a behavior-characteristic of the pedestrian indicated by the object-detection device, and
operate the host-vehicle in order to avoid the caution-area, wherein the behavior-characteristic includes a gaze-direction of the pedestrian, and the controller is configured to increase the size of the caution-area when the gaze-direction is not toward the host-vehicle.

2. The system in accordance with claim 1 , wherein the object-detection device includes a camera, the detection-characteristic includes an image-shape, and the controller is configured to determine that the object is a pedestrian when the image-shape corresponds to a human-being or an animal.

3. A pedestrian-intent-detection system for automated operation of a host-vehicle, said system comprising:
an object-detection device operable to detect an object proximate to a host-vehicle; and
a controller in communication with the object-detection device, said controller configured to
determine when the object detected by the object-detection device is a pedestrian based on a detection-characteristic of the pedestrian indicated by the object-detection device,
define a size of a caution-area located proximate to the pedestrian based on a behavior-characteristic of the pedestrian indicated by the object-detection device, and
operate the host-vehicle in order to avoid the caution-area, wherein the behavior-characteristic includes a pose-vector of the pedestrian, and the controller is configured to increase the size of the caution-area when the pose-vector is not toward the host-vehicle.

4. The system in accordance with claim 3 , wherein the object-detection device includes a camera, the detection-characteristic includes an image-shape, and the controller is configured to determine that the object is a pedestrian when the image-shape corresponds to a human-being or an animal.

5. A pedestrian-intent-detection system for automated operation of a host-vehicle, said system comprising:
an object-detection device operable to detect an object proximate to a host-vehicle; and
a controller in communication with the object-detection device, said controller configured to
determine when the object detected by the object-detection device is a pedestrian based on a detection-characteristic of the pedestrian indicated by the object-detection device,
define a size of a caution-area located proximate to the pedestrian based on a behavior-characteristic of the pedestrian indicated by the object-detection device, and
operate the host-vehicle in order to avoid the caution-area, wherein the behavior-characteristic includes phone-operation by the pedestrian, and the controller is configured to increase the size of the caution-area when phone-operation by the pedestrian is detected.

6. The system in accordance with claim 5 , wherein the object-detection device includes a camera, the detection-characteristic includes an image-shape, and the controller is configured to determine that the object is a pedestrian when the image-shape corresponds to a human-being or an animal.

7. A pedestrian-intent-detection system for automated operation of a host-vehicle, said system comprising:
an object-detection device operable to detect an object proximate to a host-vehicle; and
a controller in communication with the object-detection device, said controller configured to
determine when the object detected by the object-detection device is a pedestrian based on a detection-characteristic of the pedestrian indicated by the object-detection device,
define a size of a caution-area located proximate to the pedestrian based on a behavior-characteristic of the pedestrian indicated by the object-detection device, and
operate the host-vehicle in order to avoid the caution-area, wherein the controller is configured to determine when the pedestrian is a child, and increase the size of the caution-area when the child is determined.

8. A pedestrian-intent-detection system for automated operation of a host-vehicle, said system comprising:
an object-detection device operable to detect an object proximate to a host-vehicle; and
a controller in communication with the object-detection device, said controller configured to
determine when the object detected by the object-detection device is a pedestrian based on a detection-characteristic of the pedestrian indicated by the object-detection device,
define a size of a caution-area located proximate to the pedestrian based on a behavior-characteristic of the pedestrian indicated by the object-detection device, and
operate the host-vehicle in order to avoid the caution-area, wherein the controller is configured to determine when the pedestrian is following a second-object, and increase the size of the caution area to include the second-object.

9. A pedestrian-intent-detection system for automated operation of a host-vehicle, said system comprising:
an object-detection device operable to detect an object proximate to a host-vehicle; and
a controller in communication with the object-detection device, said controller configured to
determine when the object detected by the object-detection device is a pedestrian based on a detection-characteristic of the pedestrian indicated by the object-detection device,
define a size of a caution-area located proximate to the pedestrian based on a behavior-characteristic of the pedestrian indicated by the object-detection device, and
operate the host-vehicle in order to avoid the caution-area, wherein the object-detection device includes a radar-sensor, the detection-characteristic includes a micro-Doppler-signature, and the controller is configured to determine that the object is a pedestrian when the micro-Doppler-signature corresponds to walking or running by a human-being or an animal.

10. The system in accordance with claim 9 , wherein the behavior-characteristic includes a motion-vector of the pedestrian, and the controller is configured to increase the size of the caution-area when the motion-vector intersects a travel-path of the host-vehicle.

11. A pedestrian-intent-detection system for automated operation of a host-vehicle, said system comprising:
an object-detection device operable to detect an object proximate to a host-vehicle; and
a controller in communication with the object-detection device, said controller configured to
determine when the object detected by the object-detection device is a pedestrian based on a detection-characteristic of the pedestrian indicated by the object-detection device,
define a size of a caution-area located proximate to the pedestrian based on a behavior-characteristic of the pedestrian indicated by the object-detection device, and
operate the host-vehicle in order to avoid the caution-area, wherein the object-detection device includes a lidar-sensor, the detection-characteristic includes a leg-motion-signature, and the controller is configured to determine that the object is a pedestrian when the leg-motion-signature corresponds to walking or running by a human-being or an animal.

12. The system in accordance with claim 11 , wherein the behavior-characteristic includes a motion-vector

Assignees

• Delphi Tech Inc

Inventors

• Laur Michael H
• Lambermont Serge

Classifications

• B60W30/09 Primary

  Taking automatic action to avoid collision, e.g. braking and steering · CPC title

• B60W30/0956

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

• B60W2554/00

  Input parameters relating to objects · CPC title

• B60W30/0953 Primary

  the prediction being responsive to vehicle dynamic parameters · CPC title

• B60W40/02

  related to ambient conditions · CPC title