Detection, warning and preparative action for vehicle contact mitigation

The present application relates to a system for providing alert notifications of possible vehicle contact events including a vehicle controller for determining a first velocity of a host vehicle, a sensor for determining a second velocity of a proximate vehicle, a processor configured for predicting a time of intersection of the first velocity and the second velocity generating a control signal in response to the time of intersection being less than a first threshold time, and a controller configured for providing a vehicle contact warning and performing a contact preparation action in response to the control signal.

BACKGROUND

The present disclosure relates generally to programming motor vehicle detection and display systems. More specifically, aspects of this disclosure relate to systems, methods and devices for predicting proximate vehicle behavior, predicting an increased probability of a vehicle to vehicle contact event, and displaying an indication of the increased probability with the associated proximate vehicle and engaging preparative actions to mitigate the contact severity.

A human driver has many areas of focus when controlling a vehicle. Human drivers may not immediately recognize a situation in which a proximate vehicle and a host may have an increased likelihood of a vehicle contact event. Proximate vehicles may not be forward of the host vehicle and within the primary area of focus of the driver. In addition, additional occupants within a vehicle, mobile devices, or other vehicle systems may temporarily distract a driver from focusing on nearby vehicles reducing the likelihood of early detection of unexpected vehicle behaviors that may result in a vehicle contact. Often human drivers may not recognize a potential vehicle contact event with another vehicle until it is too late to take evasive maneuvers. It would be desirable to address these problems to provide a method and apparatus for predicting potential vehicle contact events and enabling vehicle systems to warn the driver in time to take corrective measures.

SUMMARY

Disclosed herein are vehicle sensor systems, vehicle user interface systems and related control logic for provisioning vehicle user interface systems, methods for making and methods for operating such systems, and motor vehicles equipped with user interface systems. By way of example, and not limitation, there is presented a user interface system for predicting proximate vehicle behavior, predicting an increased probability of a vehicle to vehicle contact event, and displaying an indication of the increased probability with the associated proximate vehicle.

In accordance with an aspect of the present disclosure, an apparatus including a vehicle controller for determining a first velocity of a host vehicle, a sensor for determining a second velocity of a proximate vehicle, a processor configured for predicting a time of intersection of the first velocity and the second velocity generating a control signal in response to the time of intersection being less than a first threshold time, and a controller configured for providing a vehicle contact warning and performing a contact preparation action in response to the control signal.

In accordance with another aspect of the present disclosure, wherein the controller includes a display configured for highlighting an image of the proximate vehicle in response to the control signal.

In accordance with another aspect of the present disclosure, wherein the first velocity is determined in response to a global positioning system measurement.

In accordance with another aspect of the present disclosure, wherein the vehicle controller is further configured to activate a braking system in response to the control signal.

In accordance with another aspect of the present disclosure, wherein the proximate vehicle is highlighted in a first color when the time of intersection is less than the first threshold time and a second color when the time of intersection is less than a second threshold time, where the first threshold time is greater than the second threshold time.

In accordance with another aspect of the present disclosure, wherein the display is a transparent display overlaid on a rear-view mirror and wherein the image of the proximate vehicle is reflected by the rear-view mirror.

In accordance with another aspect of the present disclosure, wherein the display is a transparent display overlaid on a vehicle windshield and wherein the image of the proximate vehicle is viewed by a driver through the windshield.

In accordance with another aspect of the present disclosure, a method including determining, by a vehicle controller, a second velocity of a host vehicle, determining, by a vehicle sensor, a first velocity of a proximate vehicle, predicting, by a vehicle processor, a time of intersection of the first velocity and the second velocity, and providing, by the vehicle controller, a vehicle contact warning and performing a contact preparation action in response to the control signal.

In accordance with another aspect of the present disclosure further including highlighting an image of the proximate vehicle in a visual display within a vehicle cabin in response to the time of intersection being less than a first threshold time.

In accordance with another aspect of the present disclosure wherein the second velocity is determined in response to a global positioning system signal.

In accordance with another aspect of the present disclosure wherein the first velocity is referenced to the second velocity.

In accordance with another aspect of the present disclosure wherein highlighting the image of the proximate vehicle is performed by displaying a highlight on a transparent video display overlaid on a rear-view mirror when the proximate vehicle is to the rear of the host vehicle.

In accordance with another aspect of the present disclosure wherein highlighting the image of the proximate vehicle is performed by displaying a highlight on a transparent video display overlaid on a vehicle windshield when the proximate vehicle is to the front of the host vehicle.

In accordance with another aspect of the present disclosure wherein the proximate vehicle is highlighted in a first color when the time of intersection is less than the first threshold time and a second color when the time of intersection is less than a second threshold time, where the first threshold time is greater than the second threshold time.

In accordance with another aspect of the present disclosure further including providing an audible alert when the time of intersection is less than a second threshold time, where the first threshold time is greater than the second threshold time.

In accordance with another aspect of the present disclosure further including adjusting a vehicle alignment with respect to a roadway lane marker in response to the time of intersection being less than a first threshold time.

In accordance with another aspect of the present disclosure, a vehicle contact warning system including a global positioning system sensor for detecting a first velocity a host vehicle, a vehicle sensor for determining a second velocity of a proximate vehicle relative to the host vehicle, a processor configured to estimate a time of intersection of the first velocity and the second velocity and to generate a warning signal if the time of intersection is less than a threshold time, and a vehicle controller configured for providing a vehicle contact warning and performing a contact preparation action in response to the warning signal.

In accordance with another aspect of the present disclosure including a display for displaying an image of the proximate vehicle, the display being further operative to highlight the image of the proximate vehicle in response to the warning signal

In accordance with another aspect of the present disclosure wherein the display is a rear-view mirror and wherein the highlight of the image of the proximate vehicle is displayed by a transparent display overlaid on the rear-view mirror.

In accordance with another aspect of the present disclosure wherein the display is a windshield and wherein the highlight of the image of the proximate vehicle is displayed by a transparent display overlaid on the windshield.

The above advantage and other advantages and features of the present disclosure will be apparent from the following detailed description of the preferred embodiments when taken in connection with the accompanying drawings.

The exemplifications set out herein illustrate preferred embodiments of the invention, and such exemplifications are not to be construed as limiting the scope of the invention in any manner.

DETAILED DESCRIPTION

Embodiments of the present disclosure are described herein. It is to be understood, however, that the disclosed embodiments are merely examples and other embodiments can take various and alternative forms. The figures are not necessarily to scale; some features could be exaggerated or minimized to show details of particular components. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting but are merely representative. The various features illustrated and described with reference to any one of the figures can be combined with features illustrated in one or more other figures to produce embodiments that are not explicitly illustrated or described. The combinations of features illustrated provide representative embodiments for typical applications. Various combinations and modifications of the features consistent with the teachings of this disclosure, however, could be desired for particular applications or implementations.

Vehicle contact events with other vehicles and stationary objects, such as collisions, are one of the leading causes of injury and death in addition to resulting in millions of dollars in property damage. The majority of vehicle contact events resulting in occupant injury occur between the rear of one vehicle and the front of another. To avoid these events, drivers need to be made aware of potential threats behind them, without diverting their attention to the road in front of them. This exemplary system and method creates and monitors risk profiles for vehicles in real time using rear facing cameras, signals from existing modules and computer vision algorithms. These risk levels may then be communicated by superimposing color on target vehicles in the rear view camera. Using vehicle contact severity reduction strategies, alongside vision augmentation, this technology can greatly reduce the chances of vehicle contact.

The exemplary system and method are configured to provide real time threat communication by superimposing color correlated to threat level on corresponding vehicle image on rear camera mirror or any secondary display in order to reduce occurrences of vehicle contact events, particularly from the rear. For example, an LED indicator on rear view mirror display may be illuminated when there is an imminent rear-end contact event. A small number of recent vehicles are equipped with advanced safety system like frontal contact event warning but are not indicative of the vehicle which provides the threat of a contact event, thereby reducing the effectiveness of the warning system.

FIG.1Ais illustrative of an exemplary environment100for providing detection and display of vehicle contact threats for mitigation in a host vehicle110. In this exemplary embodiment of the present disclosure, the host vehicle110is travelling on a two-lane roadway105. Also traveling on the roadway105in this example are two proximate vehicles, a following vehicle130and an approaching vehicle120. Sensors on the host vehicle110are used to estimate the velocity, the speed and direction, of the host vehicle110and each of the proximate vehicles and determine the likelihood that a vehicle contact event may occur. The sensors may include Lidar, Radar, cameras or the like.

The exemplary system is configured to estimate the velocity of each of the proximate vehicles, determine the velocity of the host vehicle110, and predict if a vehicle contact may occur. If a vehicle contact is predicted, the exemplary system may provide a warning to a vehicle occupant via a user interface. The warning may include an indication of the proximate vehicle and an intensity corresponding to a likelihood of a predicted vehicle contact. For example, the user interface may use augmented reality to highlight the following vehicle130in a rear view mirror in response to a elevated likelihood of a vehicle contact event between the host vehicle110and the following vehicle130.

FIG.1Bis illustrative of an exemplary rear-view mirror150for providing detection and display of vehicle contact threats for mitigation in a vehicle110. In this exemplary embodiment of the present disclosure, the rear view mirror150may be configured to provide an augmented reality view, such as providing computer generated graphics over an image captured by a camera or over a reflection such as is provided by a conventional mirror. In this example, the rear-view mirror150shows a rear view from the host vehicle. When the exemplary detection system predicts a possible vehicle contact with a following vehicle170having a likelihood exceeding a threshold, the rear-view mirror is configured to highlight the following vehicle170to provide the warning to a vehicle occupant. For example, the warning may provide a real time vehicle contact threat communication by superimposing a color correlated to threat level on corresponding vehicle image on rear camera mirror or any secondary display.

The exemplary system may communicate rear vehicle contact event threat level by superimposing colors on top of vehicle images in rear camera mirror or back-facing display. The superimposed color and intensity on rear camera mirror display may be based on predicted likelihood of a vehicle contact occurrence where the color is correlated to escalating threat level. The exemplary system may use conventionally installed hardware and sensors, such as cameras, to intelligently detect and highlight vehicles based on threat level. Alternatively, an LED indicator on rear view mirror display when there is a predicted rear vehicle contact or other LEDs forward of the driver's view when there is a predicted front vehicle contact.

Turning now toFIG.2, a block diagram illustrating an exemplary implementation of a system200for providing detection and display of vehicle contact threats for mitigation in a vehicle is shown. The system200may include a processor240, a sensor220, a user interface210and a vehicle controller230.

During operation, the system200is configured to use one or more sensors220such as a camera, infrared, radar, or lidar to detect proximate vehicles and other external objects. Sensor fusion algorithms may provide accurate tracking of proximate vehicles and external objects as well as calculation of appropriate attributes such as velocities, relative velocities, accelerations, and the like. The sensor220is operative to determine distances to objects within a field of view (FOV) which may include static and dynamic objects proximate to the vehicle. For cameras, image processing techniques may be used to identify and locate objects within the FOV. The sensor220may be used to periodically detect the location or proximate vehicles such that a velocity and/or for the proximate vehicle may be determined. Object location data generated by the sensor220may then be coupled to a processor240.

The vehicle controller230may generate control signals for coupling to other vehicle system controllers, such as a throttle controller255, a brake controller260and a steering controller270in order to control the operation of the vehicle. In addition, the vehicle controller may receive data from other vehicle systems such as global positioning systems (GPS), inertial measurement unit (IMU), memory within the vehicle and wireless network connections, such as cellular network connections. In response to the received data, the vehicle controller230may provide a host vehicle velocity to the processor240as well as steering, braking, and throttle setting data and acceleration data of the host vehicle.

In response to the received data, the processor240is configured to determine if a possible vehicle contact event is likely. The processor240may be a digital signal processor, a sensor fusion processor, a depth map processor, or the like. In one exemplary embodiment, the processor240receives data from the sensor220and the vehicle controller230and determines velocities for the host vehicle and each of the proximate vehicles. If the predicted vehicle paths as indicated by the velocities may intersect, the processor240may then determines a time to intersection. If the time is less than a first threshold, such as five seconds, the processor may then generate a first data signal indicative of a first intensity warning level and couple this first data signal to the user interface235. If the time is less than a second threshold, where the second threshold is lower than the first threshold, such as two seconds, the processor may then generate a second data signal indicative of a second intensity warning level and couple this second data signal to the user interface235. Alternatively, the processor may determine a likelihood of vehicle contact in response to the instantaneous vehicle velocities and/or in response to the vehicle paths. For example, if a proximate vehicle has a 25% to 50% likelihood of vehicle contact, the processor may couple a data signal to the user interface indicative of a first intensity warning level. If a proximate vehicle has a 50% to 75% likelihood of vehicle contact, the processor may couple a data signal to the user interface indicative of a second intensity warning level.

The user interface210is a device which may provide a warning to vehicle occupants in response to a prediction of a possible vehicle contact event. The user interface210may include one more indicator lights, such as light emitting diodes located within a vehicle cabin. Alternatively, the user interface210may be a display or a transparent overlay affixed to a windshield, window, or rear-view mirror. In the example of a display or an overlay, the user interface210may be configured to highlight one or more proximate vehicles in response to the first data signal and/or the second data signal. The user interface210may provide different color or different intensity warnings depending on the intensity warning level or in response to the predicted time to intersection of the host vehicle velocity and the proximate vehicle velocity. For example, if the intersection time is less than the first threshold, the vehicle image may be highlighted yellow. If the intersection time is less than the first threshold, the vehicle image may be highlighted red.

In addition, if a vehicle contact event is predicted when the host vehicle is stopped, the vehicle controller230may be configured for providing a vehicle contact warning via the user interface210for example, and/or performing a contact preparation action in response to a control signal from the processor240. For example, the vehicle controller230may change an application level of the braking system in response to the possible vehicle contact event. For example, braking force applied by the driver in rear-end collision is often not representative of 100% vehicle braking force capability. In this exemplary embodiment, the vehicle controller230may generate a control signal to apply 100% braking force after evaluating an appropriate situation. In addition, the vehicle controller may generate control signals to couple to steering and/or throttle controllers to adjust wheel/vehicle angle to straight with respect to lane marking in order to prevent vehicle contact events with other proximate vehicles.

In addition, the vehicle controller230may be configured to manage host vehicle speed and gap in front to avoid a rear end collision if vehicle is moving within slow speed traffic. The vehicle controller230may adjusting seats to most ergonomic position to reduce effect of vehicle contact events, pre-tension seats belt in case of rear-end vehicle contact, and/or pre-initiate an emergency wireless communications, in order to address post vehicle contact events. Data being transmitted may include host vehicle location, images, vehicle system values, etc.

Turning now toFIG.3, a flow chart illustrating an exemplary implementation of a method300for providing detection and display of vehicle contact threats for mitigation in a vehicle is shown. Initially, the method is configured to determine305a host vehicle velocity. The velocity may include a speed and a direction. The method may further use vehicle acceleration data, vehicle steering, braking and throttle settings and the like to predict a host vehicle path. The host vehicle velocity may be determined in response to a GPS signal, other GNSS signal, or in response to vehicle sensors such as IMU, speedometer, accelerometers, steering, braking and throttle controllers and the like.

The method is next operative to detect310if there is a proximate vehicle around the host vehicle. A vehicle may be determined to be a proximate vehicle if it detected by a vehicle sensor, such as a lidar, radar, infrared sensor or camera imaging system. Additionally, a detected vehicle may be determined to be a proximate vehicle if the detected vehicle is determined to be within a threshold distance of the host vehicle. An exemplary threshold distance may be 200 meters. If no proximate vehicle is detected, the method the returns to determining305the host vehicle velocity.

If a proximate vehicle is detected, the method then determines320the proximate vehicle's velocity. The method may further determine the current location of the host vehicle and the current location of the proximate vehicle. The current location of the host vehicle may be determined in response to a GPS signal or the like. The current location of the proximate vehicle may be determined in response to the host vehicle location and the relative location of the proximate vehicle with respect to the host vehicle.

The method is next configured to determine330if the proximate vehicle velocity and the host vehicle velocity will intersect. If the proximate vehicle velocity and the host vehicle velocity are not predicted to intersect, the method returns to determine305the host vehicle velocity. If the proximate vehicle velocity and the host vehicle velocity are determined330to intersect, the method then calculates340a time of intersection. The time of intersection can be calculated in response to the host vehicle velocity and the proximate vehicle velocity. In addition, cumulative velocity information may be used for both the host vehicle velocity and the proximate vehicle velocity, as well as proximate vehicle acceleration and/or host vehicle acceleration may additionally be used for predicting a time to intersection.

If the time to intersection (Ti) is less than a second threshold (Th2), the method provides360a high intensity alert to vehicle operator and/or vehicle occupants. The high intensity alert may include highlighting an image of the proximate vehicle, such as the reflection of the proximate vehicle in a rear-view mirror, in a high intensity color. For example, the image of the proximate vehicle may be highlighted in red. Furthermore, an audible alarm may be triggered in response to the high intensity alert. The method is then operative to return to determining305the host vehicle velocity. In addition, the method may be configured to adjust brake application level, adjust host vehicle wheel angle with respect to lane marking, adjust seat positions, adjust seatbelt tension and to initiate an emergency wireless signal transmission via a wireless cellular network or the like.

If the time to intersection is greater than the second threshold, the method then determines370if the time to intersection (Ti) is less than a first threshold (Th1). In this example, the first threshold time (Th1) is greater than the second threshold time (Th2). If the time to intersection is less than the first threshold time, the method next provides380a low intensity alert to provide to the vehicle operator and/or vehicle occupants. The low intensity alert may include highlighting an image of the proximate vehicle, such as the reflection of the proximate vehicle in a rear-view mirror, in a lower intensity color. For example, the image of the proximate vehicle may be highlighted in yellow. Alternatively, a light on the rear-view mirror, such as a light emitting diode may be illuminated to indicate the low intensity alert. The method is then operative to return to determining305the host vehicle velocity. If the time to intersection is greater than the second threshold, the method is then operative to return to determining305the host vehicle velocity.

Turning now toFIG.4, a block diagram illustrating another exemplary implementation of a system400for providing detection and display of vehicle contact threats for mitigation in a vehicle is shown. The exemplary system400may include a vehicle controller410, a processor420, a sensor430, and a display440.

The vehicle controller410for determining a first velocity of a host vehicle; the first velocity is determined in response to a global positioning system measurement. The vehicle controller410may be used a measurement provided by a global positioning system to determine the vehicle speed and direction. Alternatively, the vehicle velocity may be estimated in response to other vehicle sensors coupled to the vehicle controller410, such as inertial measurement units and vehicle speed detectors.

The exemplary system may further include a sensor430for determining a second velocity of a proximate vehicle; the sensor is at least one of a radar, a lidar, an infrared sensor, and a camera. wherein the second velocity is referenced to the first velocity. The sensor may be used to periodically determine a location of the proximate vehicle to determine a vehicle path and speed. The vehicle path and speed may be used to estimate the proximate vehicle velocity. Alternatively, the system may use the host vehicle speed and a default direction as the host vehicle velocity. The proximate vehicle velocity may then be determined relative to the host vehicle velocity. For example, the proximate vehicle velocity may be determined to be 2.2 m/s and +5 degrees to the velocity of the host vehicle.

The exemplary system400may further include a processor420configured for predicting a time of intersection of the first velocity and the second velocity generating a control signal in response to the time of intersection being less than a first threshold time. The processor420may determine the host vehicle in response to the data from the vehicle controller410. The processor420may determine the proximate vehicle velocity in response to the sensor data received from the vehicle sensor430. The time of intersection may then be determined using standard mathematical techniques, such as trigonometry, to determine when the two velocities intersect. The processor420may then compare the time to intersection to various threshold times. If the time to intersection is less than a first threshold, the processor may generate a first control signal indicative of a first intensity warning and couple this first control signal to the display440. If the time to intersection is less than a second threshold time, where the second threshold time is lower than the first threshold time, a second control signal may be generated indicative of a second intensity warning. The second control signal may then be coupled to the display440for presentation to the driver or vehicle occupant.

The display440may be configured for highlighting an image of the proximate vehicle in response to the control signal. For example, the proximate vehicle may be highlighted in a first color when the time of intersection is less than the first threshold time and a second color when the time of intersection is less than a second threshold time, where the first threshold time is greater than the second threshold time. In a first exemplary embodiment, the display440may be a transparent display overlaid on a rear-view mirror and wherein the image of the proximate vehicle is reflected by the rear-view mirror. In a second exemplary embodiment, the display440may be a transparent display overlaid on a vehicle windshield and wherein the image of the proximate vehicle is viewed by a driver through the windshield.

In an exemplary embodiment, the system400may be configured to perform a vehicle contact warning algorithm wherein the vehicle controller410includes a global positioning system sensor for measuring a host vehicle velocity. In addition, the system300includes a vehicle sensor430, such as a lidar, radar, infrared sensor or camera, for determining a second velocity of a proximate vehicle relative to the host vehicle and a processor420configured to estimate a time of intersection of the first velocity and the second velocity and to generate a warning signal if the time of intersection is less than a threshold time. The system400further includes a display440configured for displaying an image of the proximate vehicle, the display being further operative to highlight the image of the proximate vehicle in response to the warning signal. In a first embodiment, the display440may be a rear-view mirror and wherein the highlight of the image of the proximate vehicle is displayed by a transparent display overlaid on the rear-view mirror. In a second embodiment, the display440may be a windshield and wherein the highlight of the image of the proximate vehicle is displayed by a transparent display overlaid on the windshield.

Turning now toFIG.5, a flow chart illustrating an exemplary implementation of a system500for providing detection and display of vehicle contact threats for mitigation in a vehicle is shown. The exemplary method500is first operative for determining510a first velocity of a proximate vehicle; wherein the vehicle sensor is at least one of a radar sensor, a lidar sensor, an infrared sensor, and a camera. The first velocity may be determined by transmitting a signal, such as an electromagnetic pulse, in a known direction towards the proximate vehicle. The distance of the proximate vehicle may then be determined in response to the propagation time of the signal and a reflection of the signal from the proximate vehicle. With the direction and the distance know, a relative location of the proximate vehicle from the host vehicle may be determined. A number of these proximately vehicle location determinations taken periodically over time may be made to determine a velocity of the proximate vehicle.

The method is next configured to determining520a second velocity of a host vehicle. The location or the host vehicle may be determined in response to a global positioning system signal. Likewise, the velocity of the host vehicle may be determined in response to a number of host vehicle location determinations taken periodically over time. In one exemplary embodiment, the first velocity is referenced to the second velocity. In a second exemplary embodiment, the GPS location of the host vehicle, the known direction to the proximate vehicle and the known distance to the proximate vehicle may be used to determine a true or geographical location of the proximate vehicle and a true velocity of the proximate vehicle.

The method is next configured to predict530a time of intersection of the host vehicle velocity and the proximate vehicle velocity. A processor may be used to compare the host vehicle direction and the proximate vehicle direction to determine if there will be an intersection of the vehicle paths. If there is an intersection of the vehicle paths, a time to reach the point of intersection for each of the vehicles may then be determined. If the time to reach the point of intersection is the same, or nearly the same, for both vehicles, a vehicle contact event may be likely. The time to reach the intersection for the vehicle is then the time of intersection. The method may then use the time of intersection to determine an intensity of warning to be provide to a driver via a user interface or display.

The exemplary system next configured for highlighting540an image of the proximate vehicle in a visual display within a vehicle cabin in response to the time of intersection being less than a first threshold time. In a first exemplary embodiment, highlighting the image of the proximate vehicle may be performed by displaying a highlight on a transparent video display overlaid on a rear-view mirror when the proximate vehicle is to the rear of the host vehicle. Alternatively, highlighting the image of the proximate vehicle may be performed by displaying a highlight on a transparent video display overlaid on a vehicle windshield when the proximate vehicle is to the front of the host vehicle.

In this exemplary embodiment, the proximate vehicle may be highlighted in a first color when the time of intersection is less than the first threshold time and a second color when the time of intersection is less than a second threshold time. The first threshold time is greater than the second threshold time. In addition, the method may be configured for providing an audible alert to the vehicle operator when the time of intersection is less than the second threshold time, where the first threshold time is greater than the second threshold time. The method may highlight the image of the proximate vehicle by displaying a highlight over an image of the proximate vehicle in a rear facing display thereby highlighting the proximate vehicle within the display. In addition, the method may highlight the border of a rear-view mirror when the time of intersection is less than a second threshold time, where the first threshold time is greater than the second threshold time. Highlighting the border of the rear-view mirror may draw further attention to the proximate vehicle in addition to highlighting the proximate vehicle alone.