Accident attenuation systems and methods

Example accident attenuation systems and methods are described. In one implementation, a method determines a speed of a second vehicle approaching from behind a first vehicle and determines a distance between the first and second vehicles. The method also determines whether the second vehicle can stop before colliding with the first vehicle. If the second vehicle cannot stop before colliding with the first vehicle, the method takes action to attenuate the potential collision by applying full brake force, tightening seat belts, and/or turning the front wheels of the first vehicle to direct the first vehicle away from oncoming traffic.

TECHNICAL FIELD

The present disclosure relates to vehicular systems and, more particularly, to systems and methods that detect, and attenuate the severity of, potential accidents.

BACKGROUND

Automobiles and other vehicles provide a significant portion of transportation for commercial, government, and private entities. In areas with heavy vehicle traffic or limited visibility, accidents can occur regularly. In these areas, a driver can become distracted by the other vehicles traveling in different directions and may not see certain vehicles due to visibility limitations which increases the likelihood of an accident. In some situations, when a collision occurs between two vehicles, the impact may cause one or both of the vehicles to travel into oncoming traffic, other vehicles, pedestrians, or other hazards. Therefore, it is desirable to predict potential collisions and take steps to attenuate the severity of the potential collision.

DETAILED DESCRIPTION

At least some embodiments of the disclosure are directed to computer program products comprising such logic (e.g., in the form of software) stored on any computer useable medium. Such software, when executed in one or more data processing devices, causes a device to operate as described herein.

The disclosure relates generally to methods, systems, and apparatuses for automated or assisted driving and, more particularly, relates to detecting a potential collision between two vehicles and taking steps to attenuate the severity of the potential collision. According to one embodiment, a method uses a rear-facing camera mounted to a first vehicle to detect a second vehicle approaching from behind the first vehicle. The method also determines a speed of the second vehicle and determines a distance between the first vehicle and the second vehicle. Based on the speed of the second vehicle and the distance between the first and second vehicles, the method determines whether the second vehicle can stop before colliding with the first vehicle. If the method determines that the second vehicle cannot stop before colliding with the first vehicle, one or more actions are taken to attenuate the severity of the potential collision. For example, the action taken may include one or more of applying full brake force, tightening seat belts, and turning the front wheels of the first vehicle to direct the first vehicle away from oncoming traffic.

FIG. 1is a block diagram illustrating an embodiment of a vehicle control system100that may be used to detect a potential collision between two vehicles and take steps to attenuate the severity of the potential collision. An automated driving/assistance system102may be used to automate or control operation of a vehicle or to provide assistance to a human driver. For example, the automated driving/assistance system102may control one or more of braking, steering, seat belt tension, acceleration, lights, alerts, driver notifications, radio, or any other auxiliary systems of the vehicle. In another example, the automated driving/assistance system102may not be able to provide any control of the driving (e.g., steering, acceleration, or braking), but may provide notifications and alerts to assist a human driver in driving safely. The automated driving/assistance system102may include an accident attenuation module104that uses vehicle sensor data and one or more processors to detect a potential collision between two vehicles and take steps to attenuate the severity of the potential collision. In one embodiment, the automated driving/assistance system102may determine a driving maneuver or driving path to attenuate the severity of a likely collision.

The vehicle control system100also includes one or more sensor systems/devices for detecting a presence of nearby objects or determining a location of a parent vehicle (e.g., a vehicle that includes the vehicle control system100). For example, the vehicle control system100may include radar systems106, one or more LIDAR systems108, one or more camera systems110, a global positioning system (GPS)112, and/or ultrasound systems114. The one or more camera systems110may include a rear-facing camera mounted to the vehicle (e.g., a rear portion of the vehicle). The vehicle control system100may include a data store116for storing relevant or useful data for navigation and safety, such as map data, driving history, or other data. The vehicle control system100may also include a transceiver118for wireless communication with a mobile or wireless network, other vehicles, infrastructure, or any other communication system.

The vehicle control system100may include vehicle control actuators120to control various aspects of the driving of the vehicle such as electric motors, switches or other actuators, to control braking, acceleration, steering, seat belt tension, or the like. The vehicle control system100may also include one or more displays122, speakers124, or other devices so that notifications to a human driver or passenger may be provided. A display122may include a heads-up display, dashboard display or indicator, a display screen, or any other visual indicator, which may be seen by a driver or passenger of a vehicle. The speakers124may include one or more speakers of a sound system of a vehicle or may include a speaker dedicated to driver notification.

It will be appreciated that the embodiment ofFIG. 1is given by way of example only. Other embodiments may include fewer or additional components without departing from the scope of the disclosure. Additionally, illustrated components may be combined or included within other components without limitation.

In one embodiment, the automated driving/assistance system102is configured to control driving or navigation of a parent vehicle. For example, the automated driving/assistance system102may control the vehicle control actuators120to drive a path on a road, parking lot, driveway or other location. For example, the automated driving/assistance system102may determine a path based on information or perception data provided by any of the components106-118. The sensor systems/devices106-110and114may be used to obtain real-time sensor data so that the automated driving/assistance system102can assist a driver or drive a vehicle in real-time.

FIG. 2is a block diagram illustrating an embodiment of an accident attenuation module104. As shown inFIG. 2, accident attenuation module104includes a communication manager202, a processor204, and a memory206. Communication manager202allows accident attenuation module104to communicate with other systems, such as automated driving/assistance system102. Processor204executes various instructions to implement the functionality provided by accident attenuation module104and discussed herein. Memory206stores these instructions as well as other data used by processor204and other modules contained in accident attenuation module104.

Additionally, accident attenuation module104includes a sensor data analysis module208that receives and analyzes data from vehicle sensors, such as radar systems106, LIDAR systems108, camera systems110, GPS112, and ultrasound systems114. Additionally, sensor data analysis module208may combine (or fuse) data from multiple sensors and analyze the combined data. A speed calculation module210determines the speed of an approaching vehicle, such as a vehicle approaching the rear of the vehicle containing the accident attenuation module104. Speed calculation module210uses various sensor data to determine the speed at which the approaching vehicle is traveling. In some embodiments, the sensor data used to determine the speed of the approaching vehicle is a fusion of sensor data including radar sensor data and other types of sensor data, such as LIDAR, ultrasound, and cameras. A distance calculation module212determines the distance between the vehicle containing the accident attenuation module104and the approaching vehicle. Distance calculation module212uses various sensor data to determine the distance between the two vehicles. In some embodiments, the sensor data used to determine the distance between the two vehicles is a fusion of sensor data including radar sensor data and other types of sensor data, such as LIDAR, ultrasound, and cameras.

Accident attenuation module104also includes a collision estimation module214that determines the likelihood of a collision between the vehicle containing the accident attenuation module and the approaching vehicle. This collision determination is made based on one or more factors, such as the speed of the approaching vehicle, the distance between the two vehicles, the size (or category) of the approaching vehicle, the road surface condition, the estimated braking (or stopping) capability of the approaching vehicle, and the like. In some embodiments, a collision may be detected using V2V (vehicle-to-vehicle) communications, V2I (vehicle-to-infrastructure) communications, or any other communication system. If collision estimation module214determines that a collision is likely, then an evasive action manager216takes one or more actions to attenuate the severity of the potential collision. For example, evasive action manager216may apply full braking force to minimize movement of the vehicle during the collision, tighten the vehicle seat belts to reduce movement of the vehicle occupants during the collision, and turn the front wheels of the vehicle to direct the vehicle away from oncoming traffic or other hazards.

Accident attenuation module104further includes a geographic location module218that receives GPS data to identify a current geographic location of the vehicle. Based on the current geographic location, the geographic location module218can determine road patterns, driving lanes, the vehicle's current lane position, potential locations of oncoming traffic, other driving obstacles or driving hazards, and the like. This information is used, for example, by the evasive action manager216in determining what actions to take that will attenuate the severity of the potential collision.

FIG. 3illustrates an example traffic intersection300with multiple vehicles in or approaching the intersection. In this example, a vehicle302is waiting to turn left at the intersection. In this situation, vehicle302is stopped or moving forward slowly. Vehicle302is waiting to turn due to the oncoming vehicle306. Another vehicle304is approaching the back of vehicle302. The accident attenuation module104in vehicle302senses the approaching vehicle304and determines whether a collision is likely (i.e., vehicle304drives into the back of vehicle302). As discussed herein, accident attenuation module104may consider multiple factors in determining whether a collision is likely. If a collision is likely, accident attenuation module104may take action to attenuate the severity of the potential collision by applying full brake force for vehicle302, tightening the seat belts in vehicle302, and determining whether the front wheels of vehicle302are positioned to direct the vehicle straight forward in the event of a collision. For example, if the front wheels of vehicle302are turned to the left in anticipation of a left turn, a collision would likely push the car into oncoming traffic, such as vehicle306. However, if the front wheels are turned to a “straight” position, the vehicle would be pushed forward through the intersection instead (staying in the same lane of travel), where it is less likely to collide with an oncoming vehicle. Thus, the accident attenuation module104may turn the front wheels of vehicle302to a straight position to reduce the likelihood of a subsequent collision with oncoming traffic.

FIG. 4illustrates an example multiple-lane roadway400that includes a curve. In this example, a vehicle402is traveling along roadway400as it approaches a curve in the road. Another vehicle404is approaching vehicle402from behind. The accident attenuation module104in vehicle402senses the approaching vehicle304and determines whether a collision is likely (i.e., vehicle404drives into the back of vehicle402). As discussed herein, accident attenuation module104may consider multiple factors in determining whether a collision is likely. If a collision is likely, accident attenuation module104may take action to attenuate the severity of the potential collision by applying full brake force for vehicle402, tightening the seat belts in vehicle402, and determining whether the front wheels of vehicle402are positioned to direct the vehicle straight forward in the event of a collision. In this example, the front wheels of vehicle402are likely in a “straight” position because the vehicle is moving along a straight portion of roadway400. If vehicle404collides with the rear of vehicle402while its front wheels are in the straight position, vehicle402may be pushed straight ahead into the oncoming lane of traffic. Therefore, in this situation, if accident attenuation module104determines that a collision is likely, it may turn the front wheels of vehicle402to the right and reduce the chance of vehicle402crossing into oncoming traffic.

In some embodiments, the amount of repositioning of the front wheels varies depending on the speed of the vehicle. In certain situations, vehicle402may steer toward the right side of the current lane but still maintain its position within the lane. In other embodiments, the determination of whether to steer the front wheels of vehicle402(and the amount of steering applied) may depend on whether the accident attenuation module104senses an approaching vehicle in the oncoming lane of traffic. If no oncoming vehicles are detected, the accident attenuation module104may be less aggressive in its steering of vehicle402.

FIG. 5is a flow diagram illustrating an embodiment of a method500for detecting a potential collision and taking steps to attenuate the severity of the potential collision. Initially, an accident attenuation module determines that a vehicle is stopped or moving slowly at502. In some embodiments, the accident attenuation module regularly senses the speed of the vehicle to determine whether or not to detect potential collisions. For example, at vehicle speeds below a threshold speed (such as 5 mph), the system actively monitors approaching vehicles for potential collisions. But, when the vehicle is moving above the threshold speed, the system stops monitoring approaching vehicles for potential collisions. At these higher speeds, the accident attenuation module doesn't want to interfere with regular driving activities. In alternate embodiments, the threshold speed may be significantly higher, thereby causing the accident attenuation module to monitor approaching vehicles at higher speeds. In other embodiments, the system is always active regardless of vehicle speed.

The accident attenuation module detects another vehicle approaching from behind using a vehicle-mounted camera or other vehicle sensors at504. In some embodiments, one or more radar sensors are used to detect an approaching vehicle and determine the speed of the approaching vehicle. In other embodiments, one or more rear-facing cameras are used to detect the approaching vehicle and determine the speed of the approaching vehicle. When using multiple cameras, the system uses existing depth calculation algorithms and timestamps to determine the approaching vehicle's speed. When using a single camera, the system tracks the shape of the object in over a period of time (e.g., several image frames). If the vehicle is approaching (i.e., getting closer), the size of the object should be increasing as it gets closer to the camera. Using the image frame rate, timestamps, change in object size, and the known speed of the vehicle with the camera, the system can estimate the speed of the approaching vehicle. Specific embodiments may use both a radar sensor and a camera to detect the approaching vehicle and determine its speed.

The accident attenuation module calculates the speed of the approaching vehicle at506. In some embodiments, the speed of the approaching vehicle is calculated based on the known vehicle speed combined with the rate at which the approaching vehicle is moving closer to the vehicle that contains the accident attenuation module. Next, the accident attenuation module estimates the distance to the approaching vehicle at508. In some embodiments, the distance to the approaching vehicle is estimated based on radar signals reflected back from the approaching vehicle.

Method500continues by determining whether the approaching vehicle can stop before a collision with the vehicle containing the accident attenuation module at510. Additional details regarding determining whether the approaching vehicle can stop before a collision are discussed with respect toFIG. 6. If the method determines that the approaching vehicle cannot stop before a collision, the accident attenuation module takes action to attenuate the severity of the potential collision at512. For example, the accident attenuation module may apply full brake force, tighten seat belts, and determine whether to turn the front wheels to direct the vehicle away from oncoming traffic or other hazards. Other hazards include pedestrians, bicyclists, animals, other vehicles, buildings, steep drops at the edge of the roadway, and the like.

If the method determines that the approaching vehicle can stop before a collision, the accident attenuation module continues monitoring the approaching vehicle at514.

FIG. 6is a flow diagram illustrating an embodiment of a method600for determining the likelihood that an approaching vehicle can stop before a collision. Initially, the accident attenuation module detects an approaching vehicle at602and calculates the speed of the approaching vehicle based on vehicle sensor input at604, such as one or more radar sensors. The accident attenuation module then estimates the distance to the approaching vehicle based on sensor input from one or more vehicle sensors at606. Method600continues as the accident attenuation module determines a size or category of the approaching vehicle at608. For example, the size or category of the vehicle may be a small car, a large car, a truck, a delivery truck, a heavy dump truck, and the like. The accident attenuation module may consider the size or category of the vehicle when determining how long it will take the vehicle to stop. For example, a heavy dump truck may take significantly longer to stop than a small car. In some embodiments, the accident attenuation module determines a size or category of the approaching vehicle based on training with images that represent different sizes and categories of vehicles taken from different angles and different perspectives. Additionally, the accident attenuation module may consider the size or category of the vehicle when determining what action to take in response to a potential collision.

The accident attenuation module also determines a road surface condition at610. Example road surface conditions include dry pavement, wet pavement, snow or icy pavement, gravel road, and the like. The accident attenuation module considers the road surface condition information when determining the stopping distance of the approaching vehicle. For example, a vehicle on wet, snowy or icy pavement will require a longer stopping distance than the same vehicle on dry pavement. In some embodiments, the accident attenuation module approximates a coefficient of friction of the road surface. The method continues as the accident attenuation module determines the estimated braking (or stopping) capability of the approaching vehicle at612. The accident attenuation module may consider multiple factors when estimating the braking capability of the approaching vehicle, such as the road surface condition mentioned above. Additionally, the accident attenuation module may consider the speed of the approaching vehicle, the distance to the approaching vehicle, the size or category of the approaching vehicle, and the like. Finally, the accident attenuation module determines the likelihood that the approaching vehicle can stop before a collision based on the multiple factors discussed above. Based on the approaching vehicle's speed and the coefficient of friction of the road surface, the accident attenuation module uses a standard stopping distance formula to determine the stopping distance required by the approaching vehicle. If the stopping distance is greater than the current distance between the two vehicles, then there is a high likelihood of a collision.

FIG. 7is a flow diagram illustrating an embodiment of a method700for determining which vehicle-related action to perform in response to a likely collision. Initially, the accident attenuation module determines a high likelihood of collision with the approaching vehicle at702, as discussed above with respect toFIG. 5. The accident attenuation module identifies a current geographic location of the vehicle at704using, for example, data from a GPS in the vehicle. The accident attenuation module also determines driving lanes, the vehicle's current lane position, and potential locations of oncoming traffic at706based on map data and other information associated with the vehicle's current geographic location.

Method700continues as the accident attenuation module identifies other traffic near the vehicle at708. This traffic may be oncoming traffic, vehicles traveling in the same direction, or cross traffic. The accident attenuation module then identifies other potential hazards near the vehicle at710, such as pedestrians, bicyclists, animals, other vehicles, buildings, steep drops at the edge of the roadway, and the like. Based on the multiple factors discussed herein, the accident attenuation module determines at712whether to apply full brake force, tighten seat belts, and turn the front wheels of the vehicle to direct the vehicle away from oncoming traffic or other hazards during a collision with the approaching vehicle. In some embodiments, the accident attenuation module may perform one or more of the three actions mentioned above (i.e., apply full brake force, tighten seat belts, and turn front wheels of the vehicle). Finally, the accident attenuation module causes vehicle control actuators (such as brake actuators, seat belt actuators, and steering actuators) to perform appropriate operations at714.

In an alternate embodiment, method700also determines whether there is any oncoming traffic that poses a threat to the vehicle. For example, if the vehicle is on a one-way road with no cross streets near the vehicle, then there is no significant risk of oncoming or cross traffic. In this situation, the accident attenuation module may determine that the severity of the potential collision is best attenuated by creating an “elastic collision” that allows the energy from the collision to be transferred through the vehicle instead of having the vehicle absorb all of the energy. An elastic collision is created by releasing the brake of the vehicle and shifting the vehicle's transmission to a neutral position. Thus, when the collision occurs, a portion of the energy transfers through the vehicle and the vehicle moves forward. Since there is minimal likelihood of oncoming or cross traffic, forward movement of the vehicle is not likely to result in a subsequent collision with another vehicle.

While various embodiments of the present disclosure are described herein, it should be understood that they are presented by way of example only, and not limitation. It will be apparent to persons skilled in the relevant art that various changes in form and detail can be made therein without departing from the spirit and scope of the disclosure. Thus, the breadth and scope of the present disclosure should not be limited by any of the described exemplary embodiments, but should be defined only in accordance with the following claims and their equivalents. The description herein is presented for the purposes of illustration and description. It is not intended to be exhaustive or to limit the disclosure to the precise form disclosed. Many modifications and variations are possible in light of the disclosed teaching. Further, it should be noted that any or all of the alternate implementations discussed herein may be used in any combination desired to form additional hybrid implementations of the disclosure.