Method for detecting forward collision

Patent metadata

Field	Value
Publication number	US-9937860-B1
Application number	US-201615275571-A
Country	US
Kind code	B1
Filing date	Sep 26, 2016
Priority date	Sep 26, 2016
Publication date	Apr 10, 2018
Grant date	Apr 10, 2018

Abstract

A safety system for an automotive vehicle includes: a dedicated radio to receive and transmit state data between a host vehicle and a remote vehicle; a global positioning system (GPS) receiver; an on-board unit (OBE) to perform a vehicle-to-vehicle (V2V) communications so that the host vehicle receives state data of the remove vehicle in a basic safety message (BSM) format; and a safety control unit. In particular, the safety control unit receives the state data of the host and remote vehicles, calculates a separation distance, a prediction horizon time, and then compares the prediction horizon time with a driver reaction time to generate a warning to a driver. More specifically, the safety control unit performs a cost value procedure when a deducted prediction horizon time is greater than zero to determine variable coefficients for estimating a future position and speed of the host and remote vehicles.

First claim

What is claimed is:

1. A safety system for an automotive vehicle, comprising:
a dedicated radio configured to receive and transmit state data between a host vehicle and a remote vehicle;
a global positioning system (GPS) receiver configured to receive a position of the host vehicle and transmit the location to the radio;
an on-board unit (OBE) containing the radio and configured to perform a vehicle-to-vehicle (V2V) communications so that the host vehicle receives state data of the remove vehicle in a basic safety message (BSM) format;
a safety control unit configured to:
receive the state data of the host and remote vehicles, the state data including a position, a speed and a heading of the host and remote vehicles;
calculate a separation distance between the host and remote vehicles based on the positions of the remote and host vehicles;
calculate a prediction horizon time based on the separation distance and the speed of the current and remote vehicles;
compare the prediction horizon time with a driver reaction time;
generate a warning to a driver of the host vehicle when the prediction horizon time is equal to or less than the driver reaction time;
deduct the driver reaction time from the prediction horizon time when the prediction time is greater than the driver reaction time;
perform a cost value procedure when the deducted prediction horizon time is greater than zero (0), the cost value procedure configured to determine variable coefficients for estimating a future position and speed of the host and remote vehicles and configured to determine variable coefficients for estimating the separation distance;
after the cost value procedure, calculate a stopping distance between the host and remote vehicles based on a configurable deceleration rate of the host vehicle and a friction coefficient of a road surface on which the host vehicle runs;
increase a warning count when the stopping distance is equal to or greater than the separation distance; and
generate a warning to the driver when a number of the warning account is greater than a predetermined warning threshold,

wherein the cost value procedure calculates the position and speed of the remote vehicle based on a predicted acceleration of the remote vehicle, and calculates the position and speed of the host vehicle based on a current acceleration of the host vehicle, and
wherein the predicted acceleration of the remote vehicle is calculated as:
RV Accel ( t+T )= a 1 RV Accel ( t )+ a 2 RV Accel ( t−T )+ . . . + a n RV Accel ( t −( n− 1) T )

where:
RV Accel (t+T) is a predicted acceleration of the remote vehicle (RV) at time t+T,
RV Accel (t) is an acceleration of RV at time t,
T is a sampling time of the BSM,
a 1 , a 2 , . . . , a n are coefficients of linear prediction, and
n indicates a degree of the linear prediction model.

2. The system of claim 1 , wherein the safety control unit receives the state data of the host vehicle via an internal communication network of the host vehicle.

3. The system of claim 1 , wherein the safety control unit calculates the separation distance based on the predicted acceleration of the remote vehicle and the current acceleration of the host vehicle.

4. A method for detecting forward collision of an automotive vehicle including a dedicated short range communication (DSRC) radio equipped with an on-board unit (OBE), the method comprising the steps of:
extracting, by a safety control unit of a host vehicle, a position, a speed and a heading of a remote vehicle from a basic safety message (BSM) received from a remote vehicle via a vehicle-to-vehicle (V2V) communication;
receiving a speed, a position and a heading of the host vehicle via an internal communication network thereof;
calculating, by the safety control unit, a separation distance between the host and remote vehicles based on the positions of the remote and host vehicles;
calculating, by the safety control unit, a prediction horizon time based on the separation distance and the speed of the current and remote vehicles;
comparing, by the safety control unit, the prediction horizon time with a driver reaction time;
generating, by the safety control unit, a warning to a driver of the host vehicle when the prediction horizon time is equal to or less than the driver reaction time;
deducting, by the safety control unit, the driver reaction time from the prediction horizon time when the prediction time is greater than the driver reaction time;
performing, by the safety control unit, a cost value procedure when the deducted prediction horizon time is greater than zero, the cost value procedure configured to calculate a future position and speed of the host and remote vehicles and configured to calculate the separation distance;
after the cost value procedure, calculating, by the safety control unit, a stopping distance between the host and remote vehicles based on a configurable deceleration rate of the host vehicle and a friction coefficient of a road surface on which the host vehicle runs;
increasing, by the safety control unit, a warning count when the stopping distance is equal to or greater than the separation distance; and
generating, by the safety control unit, a warning to the driver when a number of the warning account is greater than a predetermined warning threshold,
wherein the cost value procedure calculates the position and speed of the remote vehicle based on a predicted acceleration of the remote vehicle, and calculates the position and speed of the host vehicle based on a current acceleration of the host vehicle, and
wherein the predicted acceleration of the remote vehicle is calculated as:
RV Accel ( t+T )= a 1 RV Accel ( t )+ a 2 RV Accel ( t−T )+ . . . + a n RV Accel ( t −( n− 1) T )

where:
RV Accel (t+T) is a predicted acceleration of the remote vehicle (RV) at time t+T,
RV Accel (t) is an acceleration of the RV at time t,
T is a sampling time of the BSM,
a 1 , a 2 , . . . , a n are coefficients of linear prediction, and
n indicates a degree of the linear prediction model.

5. A method for detecting forward collision of an automotive vehicle including a dedicated short range communication (DSRC) radio equipped with an on-board unit (OBE), the method comprising the steps of:
extracting, by a safety control unit of a host vehicle, a position, a speed and a heading of a remote vehicle from a basic safety message (BSM) received from a remote vehicle via a vehicle-to-vehicle (V2V) communication;
receiving a speed, a position and a heading of the host vehicle via an internal communication network thereof;
calculating, by the safety control unit, a separation distance between the host and remote vehicles based on the positions of the remote and host vehicles;
calculating, by the safety control unit, a prediction horizon time based on the separation distance and the speed of the current and remote vehicles;
comparing, by the safety control unit, the prediction horizon time with a driver reaction time;
generating, by the safety control unit, a warning to a driver of the host vehicle when the prediction horizon time is equal to or less than the driver reaction time;
deducting, by the safety control unit, the driver reaction time from the prediction horizon time when the prediction time is greater than the driver reaction time;
performing, by the safety control unit, a cost value procedure when the deducted prediction horizon time is greater than zero, the cost value procedure configured to calculate a future position and speed of the host and remote vehicles and configured to calculate the separation distance;
after the cost value procedure, calculating, by the safety control unit, a stopping distance between the host and remote vehicles based on a configurable deceler

Assignees

• Hyundai America Technical Ct Inc
• Hyundai Motor Co Ltd
• Kia Motors Corp

Inventors

• Moradi-Pari Ehsan
• Naserian Mohammad
• Horani Mohammad
• Lewis Allan
• Robb John

Classifications

• B60W30/0956

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

• B60W30/095

  Predicting travel path or likelihood of collision · CPC title

• B60W40/068

  Road friction coefficient · CPC title

• G08G1/163

  involving continuous checking · CPC title

• B60W2556/65

  Data transmitted between vehicles · CPC title