Patent Application
20220379902
The disclosure relates generally to vehicles, and, in particular, to driving assistance systems and methods for vehicles.
Modern on-road vehicles typically include some level of driving automation. SAE International describes the levels of automation ranging from level 0 to level 5. These levels of automation are briefly described herein. A level 0 (SAE 0) vehicle includes no automation, and a level 5 (SAE 5) vehicle has full automation. In vehicles with SAE 0 through level 2 (SAE 2), a human driver monitors the driving environment. In vehicles with level 3 (SAE 3) through SAE 5, an automated driving system monitors the driving environment.
Vehicle automation is performed using a driving assistance system which includes, for example, adaptive cruise control, a lane-keeping system, and an object detection and avoidance system. The adaptive cruise control maintains the ego-vehicle at a predetermined speed and/or a predetermined distance from a leading vehicle. The lane-keeping system is equipped to keep the ego-vehicle centered in a lane by automatically controlling a steering angle of the ego-vehicle. For example, the lane-keeping system keeps the vehicle in a proper lane for navigating the vehicle from a start point to a destination. The object detection and avoidance system is configured to avoid objects by slowing down or stopping. With these systems the operator of the ego-vehicle can enjoy automatic and comfortable transportation.
Driver assistance systems also provide end users with various navigation functions and features. These navigation systems normally determine an optimum route from a starting location to a destination location in a geographic region by using the input from the driver and from a position detecting unit, e.g., a GPS system. The GPS system might assist in the navigation part but is not very helpful in warning drivers of potential traffic violations or in avoiding traffic violations. Furthermore, different geographic regions often have different traffic rules. Drivers may not be aware of the different traffic rules in these regions thereby increasing the risk of violating a traffic rule while driving a vehicle.
What is needed is a system or method for identifying traffic rules pertaining to the current geographic location of a vehicle and warning drivers of potential violations of these rules and/or automatically taking action to prevent violations of the rules.
A method of operating a vehicle having a driver assistance system includes detecting driving parameters pertaining to the vehicle while the vehicle is being driven on a roadway using a sensor system of the vehicle; detecting objects in and around the roadway using the sensor system of the vehicle, the objects including at least road signs, lane indicators, and other vehicles on the roadway; identifying a traffic rule pertaining to the roadway using a traffic violation warning and prevention system of the driver assistance system; detecting a traffic situation pertaining to the traffic rule based on the detected objects and the driving parameters using the sensor system; and generating an alert that warns the driver of a potential traffic violation when the traffic situation is detected using the traffic violation warning and prevention system.
Another method of operating a vehicle having a driver assistance system includes detecting driving parameters pertaining to the vehicle while the vehicle is being driven on a roadway using a sensor system of the vehicle; detecting objects in and around the roadway using the sensor system of the vehicle, the objects including at least road signs, lane indicators, and other vehicles on the roadway; identifying a traffic rule pertaining to the roadway using a traffic violation warning and prevention system of the driver assistance system; detecting a traffic situation pertaining to the traffic rule based on the detected objects and the driving parameters using the sensor system; and automatically taking control of at least one of a steering system, a speed system, and a braking system of the vehicle using the driver assistance system to prevent a violation of the traffic rule.
The features and advantages of the disclosure should become more readily apparent to those of ordinary skill in the art by reference to the following detailed description and the accompanying figures in which:
For the purpose of promoting an understanding of the principles of the disclosure, reference will now be made to the embodiments illustrated in the drawings and described in the following written specification. It is understood that no limitation to the scope of the disclosure is thereby intended. It is further understood that this disclosure includes any alterations and modifications to the illustrated embodiments and includes further applications of the principles of the disclosure as would normally occur to one skilled in the art to which this disclosure pertains.
Aspects of the disclosure are disclosed in the accompanying description. Alternate embodiments of the disclosure and their equivalents may be devised without parting from the spirit or scope of the disclosure. It should be noted that any discussion herein regarding “one embodiment”, “an embodiment”, “an exemplary embodiment”, and the like indicate that the embodiment described may include a particular feature, structure, or characteristic, and that such particular feature, structure, or characteristic may not necessarily be included in every embodiment. In addition, references to the foregoing do not necessarily comprise a reference to the same embodiment. Finally, irrespective of whether it is explicitly described, one of ordinary skill in the art would readily appreciate that each of the particular features, structures, or characteristics of the given embodiments may be utilized in connection or combination with those of any other embodiment discussed herein.
For the purposes of the disclosure, the phrase “A and/or B” means (A), (B), or (A and B). For the purposes of the disclosure, the phrase “A, B, and/or C” means (A), (B), (C), (A and B), (A and C), (B and C), or (A, B and C).
The terms “comprising,” “including,” “having,” and the like, as used with respect to embodiments of the disclosure, are synonymous.
As shown in
The exemplary vehicle 102 of
The steering system 116 moves, pivots, and/or rotates wheels of the vehicle 102 relative to a chassis of the vehicle 102 to steer the vehicle 102. The steering system 116 may be controlled by the driving assistance system 106 so that the steering angle of the vehicle 102 is automatically electronically controlled. The steering system 116 may also be manually controlled by an operator of the vehicle 102 using the steering wheel 120. The steering wheel 120 is also referred to herein as an input device of the vehicle 102 and/or as a human machine interface (HMI) device, and the operator of the vehicle 102 is also referred to as a driver. As used herein, the steering angle of the vehicle 102 is an angle of the wheels of the vehicle 102 relative to a centerline of the vehicle 102. In one embodiment, when the operator rotates the steering wheel 120 control is taken away from the driving assistance system 106 and is granted to the operator according to an operator takeover.
The motor 128 is configured to generate a drive torque for moving the vehicle 102. In one embodiment, the drive torque is transmitted to the wheels of the vehicle 102 through a transmission. Alternatively, the drive torque is directly transmitted to the wheels, and the vehicle 102 does not include a transmission. In a specific embodiment, the motor 128 is an electric motor supplied with electrical energy from a battery of the vehicle 102. In another embodiment, the motor 128 is an internal combustion engine that burns a fuel for generating the drive torque. The motor 128 may also be a hybrid combination including an electric motor and an internal combustion engine, as is known in the art.
The brake system 132 is configured to generate a braking force for slowing the vehicle 102 and for maintaining the vehicle 102 in a stopped position. The brake system 132, in one embodiment, is a hydraulic brake system including disc brakes.
With reference to
The foot pedals 136 are operably connected to the speed system 136 and are configured to enable an operator of the vehicle 102 to manually control the speed system 124 and to manually control the speed of the vehicle 102. The foot pedals 136 include at least an acceleration pedal for controlling the magnitude of the drive torque of the motor 128, and a brake pedal for selectively activating the brake system 132 for slowing or stopping the vehicle 102. In one embodiment, when the operator operates the foot pedals 136 control is taken away from the driving assistance system 106 and is granted to the operator according to an operator takeover.
As shown in
The navigation system 144 includes map data which corresponds to a map of roadways that are available to the vehicle 102. The navigation system 144 is configured to use the vehicle position data to determine the position of the vehicle 102 relative to the map data. Accordingly, the navigation system 144 is configured to determine the specific point on the roadway on which the vehicle 102 is currently being operated using the vehicle position data and the map data.
The navigation data, in an exemplary embodiment, correspond to a route from a starting point to a destination using the available roadways of the map data. In one embodiment, the operator of the vehicle 102 configures the navigation system 144 with a desired destination, and the navigation system 144 automatically generates the navigation data for navigating the vehicle 102 to the destination. As described herein, the driving assistance system 106 typically automatically controls the speed of the vehicle 102 using the speed system 124 and the steering angle of the vehicle 102 using the steering system 116 to navigate the vehicle 102 automatically to the destination based on the navigation data.
The navigation system 144 may be configured to apply data layers to the map data for navigating the vehicle 102. For example, the navigation system 144 may include a digital traffic layer that includes real-time traffic data (not shown). In determining the navigation data for navigating the vehicle 102 to the destination, the navigation system 144 processes the traffic data layer so that the vehicle 102 is navigated using an optimized route that minimizes traffic delays and slowdowns.
The object detection system 148 includes at least one image sensor mounted at one or more locations on or in the vehicle 102. The at least one image sensor may comprise a visible light sensor. In another embodiment, the image sensor is configured as a thermal imaging device configured to generate the image data based on thermal radiation and/or an infrared radiation. In some embodiments, the object detection system 148 includes a LIDAR (light detection and ranging) system, an ultrasonic ranging system and/or a radar system that is configured to generate image data or object detection data as an alternative to or in addition to image data generated by the at least one image sensor.
The sensors of the object detection system 148 are configured to generate image data corresponding to images of the road ahead of the current position of the vehicle 102 and includes data corresponding to road edges and road surface markings that identify lanes of travel, such as striped lines and double lines. The field of view extends to both road edges. Exemplary road surface markings include painted markings dividing and/or identifying lanes of travel. The sensor system 110 may also be configured to detect other vehicles, pedestrians, cyclists and the like on or around the roadway as well as stationary objects such as road signs and traffic lights.
The controller 160 of the driver assistance system is provided as at least one microcontroller and/or microprocessor and is configured to perform various tasks, such as automatic steering and/or speed control of the vehicle using the data and inputs from the other components of the system. As part of the driver assistance system 106, the controller 160 is configured to automatically control the steering angle and the speed of the vehicle 102 based on at least the navigation data from the navigation system, the map data, the vehicle position data, and the lane position. For example, the controller 160 is configured to control the steering system 116 to automatically position the vehicle in the center of a lane of the roadway. The controller 160 is also configured to control the speed of the vehicle 102 by controlling the drive torque of the motor 128 and by controlling the brake system 132. In certain SAE levels, such as SAE 3 through SAE 5, the driving assistance system navigates the vehicle 102. For example, the controller may be configured to process the data from the sensor system 110 to detect objects and hazards in the roadway and automatically control the steering and speed or braking of the vehicle to avoid any detected objects or hazards.
The controller 160 is configured to access the memory 156. The memory 156 is a non-transitory computer readable storage medium that is configured to store programmed instructions that when executed by a processor of the controller 160 enable the processor to perform functions related to the driving assistance system.
According to this disclosure, the driving assistance system 106 is configured to implement a traffic violation warning and prevention system 200 as depicted in
Referring to
The alert system 210 includes a display screen 228 and/or a speaker 230. When the system 200 detects a violation of a traffic rule or a potential violation of a traffic rule, the alert system 210 is activated. The alert system 210 may be configured to display a visual alert, such as a text message displayed on the display screen 228. The alert system 210 may also be configured to generate an audio alert, such as a beep, buzz, or spoken message, that is output by the speaker 230. The alert can also include haptic feedback, e.g., through a vibration in the seat, steering wheel, or a slight brake jerk.
The controller 220 of the system 200 is provided as at least one microcontroller and/or microprocessor and is configured to perform various tasks for the traffic violation warning and prevention system 200. In one embodiment, the controller 160 is utilized as the controller 220 for the system 200. In alternative embodiments, the controller 220 may comprise a separate controller from the controller 160 of the driver assistance system. The controller 220 includes a processor and is configured to execute programmed instructions stored in the memory 208 that enable the performance of the various functions of the system 200, such as processing sensor data to detect objects, such as other vehicles, pedestrians, and cyclists, to detect road signs and identify the information on the road signs, and to identify lane dividing lines, road edges, and the like. The controller 214 is configured to determine traffic rules pertaining to the vehicle's current geographic location and to monitor driving parameters, such as vehicle speed, acceleration, deceleration, steering angle, and the like with respect to the detected objects to determine whether a violation or potential violation of a traffic rule has or will imminently occur. The controller 214 is also configured to activate the alert system 210 to generate an alert in the case that a traffic violation or a potential traffic violation is occurring. The controller 214 may also be configured to activate the driver assistance system 106 to take control of the steering system 116, speed system 124 and/or brake system 132 of the vehicle 102 away from the driver in order to control the vehicle 102 so as to avoid violating a traffic rule.
The traffic rules pertaining to roadways may be predetermined and programmed into the system, e.g., stored in the memory 208. In particular, the system 200 may include a traffic rule database 218 that is stored in the memory 208. In one embodiment, the memory 208 is part of the memory 156 of the driver assistance system 106. Alternatively, the memory 208 may be a separate memory dedicated to the traffic violation warning and prevention system 200.
The traffic rule database 218 may include traffic rules for a plurality of different locales or geographic regions. As is known in the art, different municipalities or regions of a state or country may have different traffic laws. The traffic rule database 218 has traffic rules stored in connection with the geographic region in which it is applicable. The database 218 can be accessed by accessing with reference to the current geographic region in which the vehicle is located to determine the traffic rules that apply to that region. The current geographic location may be determined using, for example, the GPS sensor of the navigation system 144 and may be updated continuously as the vehicle travels. When the vehicle passes into a different geographic region having new or different traffic laws, the database can be accessed to identify the traffic laws that are applicable to the region.
The traffic rule database 218 may be updated when traffic rules change or new traffic rules are implemented. To this end, the traffic violation warning and prevention system 200 may comprise a communication system 220 configured to enable the system to download traffic rule data for the database from a remote device 222, such as a server or computer, via a network 224. Any suitable type of communication device may be used, including wired or wireless, cellular, satellite, radio frequency, and the like. In case the database 218 does not include traffic rule data for a particular geographic region, the system may also be configured to request traffic rule pertaining to a particular geographic region from the remote device 222 using the communication system 220.
The system 200 may also be configured to identify traffic rules using the sensor system 204. For example, the sensor system 204 enables road signs to be detected information on the signs to be “read”, e.g., using a visible image sensor or camera of the sensor system. A road sign, such as a speed limit sign, may be identified using the sensor system 204 and the speed limit data read from the sign. The system 200 is then aware of the current speed limit of the roadway on which the vehicle is traveling. The system 200 can then monitor the current speed of the vehicle 102 and compare it with the detected speed limit to determine whether a speeding violation is occurring or could potentially occur.
Detecting the speed limit may be beneficial in many cases. For example, the detected speed limit may be used if the data pertaining to the roadway in the traffic rule database is incorrect and/or outdated. Some areas, such as construction zones, may have temporary speed limits which are lower than the speed limit typically used for the roadway. Detecting the speed limit on the roadway helps to ensure that the vehicle 102 is traveling at the appropriate speed at all times.
In any event, if the current speed of the vehicle 102 is near or above the detected speed limit, the system 200 can generate an alert or warning regarding the speed limit. In some cases, the system 200 may be configured to take control of the speed system 124 of the vehicle to automatically control the speed so that the vehicle 102 speed does not exceed the detected speed limit.
Other road signs may also be detected and read by the system 200. For example, the sensor system 204 may be configured to detect and identify stop signs, such as depicted in
An example of another sign that may be detected and recognized by the system and that is indicative of a traffic rule is a “no passing zone” sign. No passing zone signs are used to indicate areas of the roadway where the passing of vehicles is prohibited, such as construction areas. When the system 200 detects a no passing zone sign, the system 200 may be configured to generate an alert via the alert system 210 for the driver indicating that passing is not allowed in the current section of the roadway. The system 200 may also be configured to monitor vehicular behavior to detect whether the driver of the vehicle 102 is attempting to perform a passing maneuver in the no passing zone. For example, the system 200 may be configured to detect when another vehicle is in front of the vehicle and to detect that the vehicle is crossing over into an adjacent lane and accelerating to pull alongside the other vehicle. If this situation is detected, the system can generate an alert indicating that passing is not allowed in the no passing zone, and, in some cases, may be configured to take control of the steering and speed systems to prevent the vehicle from passing the other vehicle in order to avoid violating the traffic rule.
Referring to
Referring to
Some traffic rules may only apply to certain types of vehicles. For example, some geographic regions may have traffic rules that apply only to commercial vehicles. As one example, some geographic regions may have lane restriction rules for commercial vehicles, such as semi-trucks. In some cases, commercial trucks are required to stay in the far-right lane and/or stay out of the far left lane except in cases of necessity. Another example is that some geographic regions require that semi-trucks have a lower speed limit on interstates than the speed limit for regular passenger vehicles. The system is configured to take the type of vehicle into consideration in determining the traffic rules that are to be monitored.
The system 200 is capable of detecting driving parameters to facilitate the detection of traffic situations pertaining to the traffic laws that are being monitored. Driving parameters include current speed of the vehicle, current acceleration or deceleration of the vehicle, current steering angle of the vehicle, position of the vehicle with respect to the roadway (e.g., current lane), direction of travel, and the like. These parameters may be received from other systems of the vehicle, such as the steering system, speed system, and brake system, while parameters such as vehicle position may be determined using the sensor system of the vehicle, e.g., the GPS sensor.
With knowledge of the driving parameters, the positions of other vehicles on the roadway, the recognition of road signs and lane dividing lines, the system 200 is configured to detect traffic situations that pertain to the traffic rules being monitored. As discussed above, to detect passing maneuvers when in a no passing zone or when a solid lane dividing line is detected, the controller is configured to detect when the vehicle begins to change lanes. This can be done by monitoring the position of the vehicle with respect to the roadway and/or the steering angle of the vehicle. Pulling alongside another vehicle in an adjacent lane may also be used as an indicator of a potential traffic violation, such as passing another vehicle on the right-hand side. To detect speeding violations, the system compares the current vehicle speed to the speed limit as taken from the database or as detected from identification of a speed limit sign. To detect stop sign violations, the system is configured to identify when the vehicle is approaching a stop sign, the speed at which the vehicle is approaching the stop sign and whether or not the vehicle is decelerating sufficiently. The system may also be configured to monitor whether the vehicle comes to a complete stop at the stop sign.
Some rules involve vehicle parameters which are typically not monitored in connection with traffic violations. The system may be configured to monitor these systems in connection with these rules. For example, some geographic regions may require that turn signals be used when changing lanes. The system is configured to detect when the vehicle is changing lanes. The system may also be configured to determine whether the appropriate turn signal is on while the lane change is being performed. The system may generate an alert to indicate that the turn signal should be used when changing lanes, or may be configured to automatically turn the appropriate turn signal on when a lane change is detected. Another traffic rule that may be monitored pertains to the gas tank. In Germany, it is illegal to run out of fuel while on the Autobahn. The system may be configured to detect when the vehicle is approaching the Autobahn, e.g., using a GPS sensor, and to generate a warning regarding the fuel rule to the driver prior to the vehicle entering or while on the Autobahn. If the system detects that the amount of fuel is low, e.g., below a predetermined amount, the system may generate an alert indicating that the amount of fuel is low and that the driver should exit the Autobahn.
The traffic violation warning and prevention system 200 may also be used to assist the driver in other driving situations and conditions. As one example, the system 200 may be useful at four way stop signs in which the system can alert the driver to stop and the stop sign and detect whether other vehicles have stopped at the stop and the order in which they have stopped. The system 200 can then provide an indication of when it is the driver's turn to proceed through the intersection. The system 200 can provide assistance in determining when to enter an intersection in other instances, such as at a roundabout. The system 200 may be configured to detect oncoming traffic and whether there is sufficient time and space to enter the roundabout as well as the correct lane to use to arrive at a desired exit from the roundabout. The system 200 may also be configured to detect school buses on the road, and in particular, when they have stopped to let children off the bus. In this case, the system may be configured to detect whether the bus is stopped and whether the stop sign which is typically on the side of the bus has been extended indicating that traffic should stop.
The traffic violation warning and prevention system 200 is beneficial for all drivers to ensure that the driver is informed of traffic rules that may not be known to the driver, such as rules in other countries or geographic regions, and to warn the driver of potential traffic rule violations. One application where this system would be particularly useful is driver training, such as in the case of new drivers and drivers getting certified to drive commercial vehicles (e.g., commercial driver's license).
While the disclosure has been illustrated and described in detail in the drawings and foregoing description, the same should be considered as illustrative and not restrictive in character. It is understood that only the preferred embodiments have been presented and that all changes, modifications and further applications that come within the spirit of the disclosure are desired to be protected.
