Patent Application
20230119295
The present disclosure relates to a method for operating a vehicle hazardous parking warning system for warning a user of a first vehicle about hazardous parking of the first vehicle. The disclosure further relates to a corresponding vehicle hazardous parking warning system.
The method and system for operating a vehicle hazardous parking warning system according to the disclosure can be arranged in a vehicle or a handheld computing device carried by a user of the vehicle. Moreover, even if the method and system according to the disclosure will be described primarily in relation to a car, the method and system is not restricted to this particular vehicle, but may as well be installed or implemented in another type of vehicle, such as a truck, a bus, a motorcycle or the like.
In the field of vehicle hazardous parking warning system for warning a user of a first vehicle about hazardous parking of the first vehicle along a roadside, it is known for example from U.S. Pat. No. 9,987,981 B1 to provide the first vehicle with a rearwards looking radar detection device, and to trigger an alarm when a vehicle approaching from behind the first vehicle enters a work zone around the stationary first vehicle.
However, there are certain disadvantages with this type of prior art solutions, in particular in terms short reaction time from warning to potential collision, but also in terms of detection range, accuracy and reliability.
There is thus a need for an improved method for operating a vehicle hazardous parking warning system, and corresponding system, that provides increased reaction time from warning to potential collision, as well as improved detection accuracy and reliability.
An object of the present disclosure is to provide a method for operating a vehicle hazardous parking warning system, and corresponding system, where the previously mentioned problems are avoided. This object is at least partly achieved by the features of the independent claims.
According to a first aspect of the present disclosure, there is provided a method for operating a vehicle hazardous parking warning system for warning a user of a first vehicle about hazardous parking of the first vehicle. The method comprises: detecting that the first vehicle enters a parking state at a parking position along the roadside, and determining whether the parking position of the first vehicle is hazardous in terms of risk that the parked first vehicle being hit by a second, rear-coming, vehicle by:
activating a warning feature for warning the user of the first vehicle about hazardous parking in response to determined hazardous parking position.
According to a second aspect of the present disclosure, there is provided a vehicle hazardous parking warning system for warning a user of a first vehicle about hazardous parking of the first vehicle. The warning system comprises: a first sensor for detecting when the first vehicle enters a parking state at a parking position along the roadside, a warning output device, in particular a display, light signal device, vibration device, loudspeaker and/or mobile electronic device associated with the user, for outputting a warning signal or warning message, and an electronic control system. The electronic control system is configured for receiving input data from the first sensor and for activating a warning feature by the warning output device for warning the user of the first vehicle about hazardous parking in response to determined hazardous parking position,
In this way, it becomes possible make a risk evaluation for determining the risk that the stationary first vehicle may be hit by a second, rear-coming, vehicle, immediately upon entering the parking state and thus often before a second vehicle is coming close to the first vehicle, thereby typically enabling a significant increase in reaction time from warning to potential collision, such that the vehicle user, vehicle control system and/or vehicle autonomous driving system has time to for example actuate vehicle external warning lights, move the vehicle to a more safe parking position, evacuate the vehicle, putting out a warning triangle for altering other road drivers, etc.
Moreover, since the risk evaluation according to the disclosure is independent from detection range of a stationary rearwards-looking radar detector, detection range, accuracy and reliability is increased, because more remote information about forwards visibility, sensor data reflecting curvature and slope, road map data including forwards visibility information or road curvature data and road slope, or geographic information identifying areas of dangerous parking, may be easily obtained.
In other words, by making an estimation of the visibility of the first vehicle, as experienced by a user and/or driving system of second rear-coming vehicle upon approaching the first vehicle from behind, a reliable and accurate risk assessment for evaluating the risk for a collision between the stationary first vehicle and approaching second vehicle may be made.
Further advantages are achieved by implementing one or several of the features of the dependent claims.
In some example embodiments, the stored sensor data was registered by at least one forwards directed sensor unit of the first vehicle while travelling the road stretch leading up to the parking position and before the first vehicle entered the parking state at the parking position, wherein the retrieved sensor data corresponds to forwards visibility information reflecting visibility of the parking position of the first vehicle. Thereby, the visibility of the stationary first vehicle, as perceived by a driver or driving system of a rear-coming second vehicle, may be accurately and reliably estimated.
In some example embodiments, the stored sensor data was registered by a set of sensor units associated with the first vehicle while travelling the road stretch leading up to the parking position and before the first vehicle entered the parking state at the parking position, wherein the retrieved sensor data corresponds to curvature and/or slope data of said road stretch. Thereby, a cost-efficient system for estimating the visibility of the stationary first vehicle, as perceived by a driver or driving system of a rear-coming second vehicle, may be provided, because it typically requires less sophisticated sensors and less computational effort for evaluating compared with use of a forwards directed sensor.
In some example embodiments, the stored sensor data was registered by at least one sensor unit associated with the third vehicle while travelling the road stretch leading up to the parking position, wherein the retrieved sensor data corresponds to forwards visibility information reflecting visibility of the parking position of the first vehicle or curvature and/or slope data of said road stretch. Thereby, also vehicles lacking the necessary hardware for performing the required sensor data collection themselves may exploit and benefit from the method and system for operating a vehicle hazardous parking warning system for warning a user of a first vehicle about hazardous parking of the first vehicle.
In some example embodiments, the road stretch leading up to the parking position, i.e. the road stretch travelled by the first vehicle shortly before arriving at the parking position, corresponds to a road stretch extending not more than 2000 metres, specifically not more than 1000 metres, prior to the parking position of the first vehicle. Thereby, the data volume relating to sensor data may be limited without losing relevant data.
In some example embodiments, the retrieved forwards visibility information or retrieved sensor data corresponds to forwards visibility information or sensor data that was registered and stored not more than five minutes, specifically within a range of 3-60 seconds, prior to detecting that the first vehicle entered the parking state at a parking position along the roadside. Thereby, the data volume relating to visibility information or sensor data may be limited without losing relevant data.
In some example embodiments, the retrieved forwards visibility information or retrieved sensor data corresponds to forwards visibility information or sensor data that was registered and stored not more than 2000 metres, specifically not more than 1000 metres, prior to the parking position along the roadside. Thereby, the data volume relating to visibility information or sensor data may be limited without losing relevant data.
In some example embodiments, the risk parameter reflecting a risk for the parked first vehicle being hit by a second, rear-coming, vehicle, is any of, or a combination of: risk assessment score value; estimated distance to the parking position of the first vehicle when coming into visual range of the parked first vehicle, as experienced by a second, rear-coming, vehicle, or driver thereof; and estimated time period from detecting the parked first vehicle until arriving at the parked first vehicle, as experienced by a second, rear-coming, vehicle, or driver thereof. Each of these three alternative options provides a reliable and easily implemented method for evaluating level of risk.
In some example embodiments, the sensors of the set of sensor units are installed within the first vehicle or the third vehicle, or within a mobile electronic device, such as a smartphone, located within the first vehicle or the third vehicle, wherein the retrieved sensor data corresponding to curvature and/or slope data of said road stretch include: sensor data indicating road curvature, in particular steering wheel angular position data, vehicle lateral acceleration data, steering rack position data of a power steering system, wheel suspension data, and/or gyro data; sensor data indicating road slope, in particular vehicle pitch angle data, propulsion motor torque output data, or vertical acceleration data; and sensor data indicating vehicle speed or position, in particular wheel rotational speed data, propulsion motor rotational speed data, or GPS data; wherein the sensors of the set of sensor units are installed within the first vehicle or within a mobile electronic device, such as smartphone, located within the first vehicle. Hence, a large variety of possible solutions for obtaining the desired curvature and slope data is provided.
In some example embodiments, the step of activating a warning feature for warning the user of the first vehicle about hazardous parking involves any of, or a combination of: activating a visual and/or audio warning signal; or transmitting a voice warning message via a display and/or a loudspeaker; wherein said warning signal or warning message is outputted via a warning output device, in particular a display, light signal device, vibration device and/or loudspeaker, located within the first vehicle or via a mobile electronic device, such as a smartphone, associated with a user of the first vehicle. A suitable warning feature, taking each specific implementation into account, may be selected.
In some example embodiments, the step of activating a warning feature for warning the user of the first vehicle about hazardous parking additionally involves providing a recommended action to the user of the first vehicle, wherein the recommended action relates to any of, or a combination of: moving the first vehicle away from the current parking position; evacuating the first vehicle; setting out warning device for warning a driver or driving system of the second, rear-coming, vehicle about the parked first vehicle; wherein said recommended action is outputted via a display and/or loudspeaker located within the first vehicle or via a mobile electronic device, such as a smartphone, associated with a user of the first vehicle. Thereby, assistance is provided to the user for quickly reducing the risk for collision.
In some example embodiments, the step of calculating the level of the risk parameter additionally takes one or more of the following aspects are taken into account: road or road lane width at the parking position; portion of road or road lane width that is blocked by the first vehicle at the parking position; road speed limit at the parking position and/or on the road stretch leading up to the parking position; foggy weather condition at the parking position and/or on the road stretch leading up to the parking position; precipitation condition at the parking position; sunlight, in particular incident angle of sunlight relative to the orientation of the road stretch leading up to the parking position; outdoor light condition at the parking position; road grip at the parking position; traffic intensity at the parking position; and/or vehicle detectability by a driver or driving system of the second, rear-coming, vehicle. Thereby, additional accuracy and reliability in terms of estimating the risk for collision is accomplished.
In some example embodiments, the method further comprises, in response to determined hazardous parking position, when the first vehicle is operating in an autonomous driving mode, controlling the vehicle to drive away from the parking position. Thereby, the driving system acts for quickly reducing the risk for collision.
In some example embodiments, the method further comprises monitoring vehicle speed and determining that the first vehicle is entering the parking state at a parking position along the roadside when the vehicle speed is lower than a threshold value, in particular when the vehicle speed is zero. Thereby, a reliable detection of parking state is accomplished for avoiding undesired alarm in a non-parking situation.
In some example embodiments, the areas of dangerous parking of the retrieved geographic information have been identified based on sensor data registered by at least one forwards directed sensor unit of a vehicle while travelling a road stretch leading up to the parking position, wherein the sensor data corresponds to forwards visibility information reflecting visibility of the parking position of the first vehicle. Thereby, estimation of the visibility of the stationary first vehicle, as perceived by a driver or driving system of a rear-coming second vehicle, may be cost-efficiently and reliably obtained.
In some example embodiments, the areas of dangerous parking of the retrieved geographic information have been identified based on sensor data registered by a set of sensor units associated with a vehicle while travelling a road stretch leading up to the parking position, wherein the sensor data corresponds to curvature and/or slope data of said road stretch and reflects visibility of the parking position of the first vehicle. Thereby, estimation of the visibility of the stationary first vehicle, as perceived by a driver or driving system of a rear-coming second vehicle, may be cost-efficiently and reliably obtained.
In some example embodiments, the at least one forwards directed sensor unit is any of, or a combination of, an image sensor unit, a radar sensor unit, a LIDAR sensor unit.
In some example embodiments, the at least one sensor unit corresponds to at least one forwards directed sensor unit of the first vehicle, wherein the electronic control system is configured for determining whether the parking position of the first vehicle is hazardous in terms of risk that the parked first vehicle being hit by a second, rear-coming, vehicle by: retrieving stored sensor data that was registered by the at least one forwards directed sensor unit while travelling the road stretch leading up to the parking position, wherein the retrieved sensor data corresponds to forwards visibility information reflecting visibility of the parking position of the first vehicle.
In some example embodiments, the at least one sensor unit corresponds to a set of sensor units associated with the first vehicle, wherein the electronic control system is configured for determining whether the parking position of the first vehicle is hazardous in terms of risk that the parked first vehicle being hit by a second, rear-coming, vehicle by: retrieving stored sensor data that was registered by the set of sensor units while travelling the road stretch leading up to the parking position, wherein the retrieved sensor data corresponds to curvature and/or slope data of said road stretch.
In some example embodiments, the at least one sensor unit corresponds to at least one forwards directed sensor unit of the third vehicle or a set of sensor units associated with the third vehicle, wherein the electronic control system is configured for determining whether the parking position of the first vehicle is hazardous in terms of risk that the parked first vehicle being hit by a second, rear-coming, vehicle by: retrieving stored sensor data that was registered by the sensor unit or set of sensor units while travelling the road stretch leading up to the parking position, wherein the retrieved sensor data corresponds to forwards visibility information reflecting visibility of the parking position of the first vehicle or curvature and/or slope data of said road stretch.
The disclosure also relates to a vehicle or a mobile electronic device, such as a smartphone, comprising the warning system described above.
The disclosure also relates to a computer program comprising instructions, which, when the program is executed by a computer, cause the computer to carry out the steps of the method as described above.
The disclosure also relates to a computer-readable storage medium comprising instructions which, when executed by a computer, cause the computer to carry out the steps of the method as described above.
Further features and advantages of the invention will become apparent when studying the appended claims and the following description. The skilled person in the art realizes that different features of the present disclosure may be combined to create embodiments other than those explicitly described hereinabove and below, without departing from the scope of the present disclosure.
The disclosure will be described in detail in the following, with reference to the attached drawings, in which
Various aspects of the disclosure will hereinafter be described in conjunction with the appended drawings to illustrate and not to limit the disclosure, wherein like designations denote like elements, and variations of the described aspects are not restricted to the specifically shown embodiments, but are applicable on other variations of the disclosure.
The present disclosure relates to a method for operating a vehicle hazardous parking warning system for warning a user of a first vehicle about hazardous parking of the first vehicle in terms of being hit by a second, rear-coming, second vehicle, i.e. a rear-end collision scenario. The hazard of being hit by a second vehicle is specifically relevant when the first vehicle is stillstanding or parking along a road side of a highway, motorway, rural road, country road or similar types of road, where a parked or stillstanding vehicle along the road side is unexpected, and where there is maybe not sufficient space for completely driving off the normal driving lane, or even the breakdown lane or shoulder of the road if available, in case of coming to undesirable vehicle stillstand or parking, for example due to breakdown, low fuel, low battery charge, driver health problem, or the like.
Merely for illustrating a typical rear-end collision scenario,
One purpose of the method for operating a vehicle hazardous parking warning system, and corresponding system, according to the disclosure, is thus to evaluate the risk for a rear-end collision in case of entering a parking state of a first vehicle 21, and for warning a user of a first vehicle 21 about hazardous parking of the first vehicle in terms of being hit by a second, rear-coming, second vehicle 22 if deemed necessary or beneficial in view of said risk.
The method and system according to the disclosure will be described primarily in relation to a car. Therefore, for setting the method and system according to the disclosure in a context,
In the example embodiment of
In the example embodiment of
The vehicle hazardous parking warning system according to the disclosure may be permanently implemented in the first vehicle 21, i.e. the parts of the system, such as the electronic control system 8, the first sensor 6 and the warning output device 7, may be permanently mounted or installed within the first vehicle 21. Alternatively, as schematically showed in
With reference to
The first main step S10 of detecting that the first vehicle 21 enters a parking state at a parking position along the roadside, may for example involve monitoring speed of the first vehicle and determining that the first vehicle is entering the parking state at a parking position along the roadside when the speed of the first vehicle is lower than a threshold value, in particular when the speed of the first vehicle is zero. Vehicle speed may for example be detected by means of a first sensor 6, such as for example a wheel rotational speed sensor, a propulsion motor rotational speed sensor, a GPS receiver, or the like.
However, various additional aspects may be taken into account for increasing the reliability and accuracy of the parking state assessment. For example, the first step S10 of the method may additionally involve monitoring a sideways position of the first vehicle relative to the road or road lane. A position of the first vehicle near a road side of the road, i.e. offset towards the road side, as illustrated in
Furthermore, the driving environment of the first vehicle may also be used for increasing the reliable and accurate detection of whether the first vehicle 21 has entered a parking state at a parking position along the roadside, or not. For example, temporary vehicle stillstand or slow driving is common when driving in an urban environment, for example due to vehicle queuing, traffic jams, traffic lights, road crossing, etc. may be deemed not having entered the parking state, because the risk for being hit by a fast approaching second vehicle from the rear due to dangerous first parking position is then often relatively low. On the other hand, temporary vehicle stillstand or slow driving is rather uncommon when driving in a more rural environment, or on a highway, or the like. Consequently, vehicle stillstand or slow driving in a more rural environment may therefore indicate having entered the parking state, because the risk for being hit by a fast approaching second vehicle from the rear due to dangerous first parking position is larger. The driving environment of the first vehicle may for example be determined by obtaining the geographical position of the first vehicle, for example by a GPS receiver, and mapping the position of the first vehicle with road map data. Alternatively, or in combination with GPS receiver, the driving environment may be derived by image recognition of image sensor data collected by an image sensor of the first vehicle. For example, a vehicle queuing situation may generally be detected by a forwards directed camera or radar or LIDAR detector. Still more alternatively, or in combination with the other indicators described above, road speed limit may be used for determine city or urban driving environment, i.e. for indicating whether a slow down or stop of the first vehicle 21 should be classified as first vehicle 21 entering the parking state.
Other indicators that indicate that the first vehicle has entered the parking state and that may be used for improved detection of vehicle parking state are for example when the user leaves the vehicle or leaves the vehicle seat, or when a vehicle key is leaving the vehicle or is removed from a dedicated key slot within the vehicle. These various situations may be detected by a passenger compartment sensor, seat sensor, etc.
In addition, engine shut-down or parking brake activation are further indicators that indicate that the first vehicle has entered the parking state.
The third main step S30 of activating a warning feature for warning the user of the first vehicle 21 about hazardous parking in response to determined hazardous parking position may for example involves any of, or a combination of, activating a visual and/or audio warning signal, or transmitting a voice warning message via a display and/or a loudspeaker. In particular, said visual and/or audio warning signal or warning message is outputted via the warning output device 7, in particular a display, light signal device, vibration device and/or loudspeaker, located within the first vehicle or via a smartphone associated with, e.g. carried by, owned by, lent to, a user of the first vehicle.
Furthermore, third main step S30 of activating a warning feature for warning the user of the first vehicle about hazardous parking may additionally involve providing a recommended action to the user of the first vehicle 21, wherein the recommended action relates to any of, or a combination of: moving the first vehicle away from the current parking position; evacuating the first vehicle; setting out warning device for warning a driver or driving system of the second, rear-coming, vehicle about the parked first vehicle. Said recommended action may for example be outputted via a display and/or loudspeaker located within the first vehicle or via a smartphone associated with a user of the first vehicle 21.
Also, the method may further comprise a fourth main step of controlling the first vehicle 21 to drive away from the parking position in response to determined hazardous parking position, when the first vehicle 21 is operating in an autonomous driving mode. In other words, if the first vehicle 21 comes to halt at a parking position along the roadside for any reason, such as emergency breakdown or user command, while driving in an autonomous driving mode, an autonomous driving system of the first vehicle 21 may be configured for operating the first vehicle 21 for leaving the hazardous parking position and driving to a new, more safe, parking position.
The second main step S20 of determining whether the parking position of the first vehicle 21 is hazardous in terms of risk that the parked first vehicle 21 being hit by a second, rear-coming, vehicle 22, may be performed in various alternatives ways.
For example, according to some example embodiments of the disclosure, said second main step S20 may involve performing a first substep of retrieving stored sensor data that was registered by at least one sensor unit 10 associated with the first vehicle 21 or a third vehicle while travelling a road stretch leading up to the parking position 24, wherein the retrieved sensor data reflects visibility of the parking position 24 of the first vehicle 21. The second main step S20 may additionally involve performing a second substep of calculating a level of a risk parameter reflecting a risk for the parked first vehicle 21 being hit by a second, rear-coming, vehicle 22, based on the retrieved sensor data. Moreover, the second main step S20 may involve performing a third substep of determining that the parking position 24 is a hazardous parking position 24 when said level of said risk parameter exceeds a threshold value.
In other words, the retrieved sensor data was registered by at least one sensor unit 10 associated with the first vehicle 21 itself a short time period before the first vehicle 21 entered the parking state, such as for example sensor data registered during the most recent 60 or 120 seconds before entering the parking state, or the like. Thereby, the retrieved sensor data is collected while driving the road stretch leading up to the parking position 24 and may be used for estimating the visibility of the parking position 24 of the first vehicle 21, as experienced when driving along said road stretch towards the parking position 24. Consequently, the retrieved sensor data may be used for estimating the visibility of the parking position 24 as perceived by a driver or driving system of a vehicle approaching the parking position 24 from behind of the first vehicle 24.
Alternatively, or in combination with above, the retrieved sensor data may have been registered by at least one sensor unit 10 associated with a third vehicle while travelling a road stretch leading up to the parking position 24, wherein the sensor data captured by the third vehicle was shared with the first vehicle 21 for enabling estimation of the visibility of the parking position 24 of the first vehicle 21, as experienced or perceived when driving along said road stretch towards the parking position 24.
Furthermore, one example embodiment of how to perform the second main step S20 of determining whether the parking position of the first vehicle 21 is hazardous in terms of risk that the parked first vehicle 21 being hit by a second, rear-coming, vehicle 22 is described more in detail below with reference to
As mentioned above, the forwards visibility information is thus more or less continuously registered while travelling of the first vehicle 21 using for example an image sensor, a radar sensor or a LIDAR sensor, or a combination thereof, and the registered forwards visibility information is more or less continuously stored in a data storage 9 for access thereof at a later time point in the near future.
Since only forwards visibility information at a road stretch located directly behind the first vehicle 21, e.g. about 5-1500 metres along the road behind the first vehicle 21, is relevant for determining the risk for being hit by a rear-coming second vehicle 22, forwards visibility information older than about 30 seconds is typically not relevant and may be overwritten/deleted while driving.
Alternatively, the retrieved forwards visibility corresponds to: information or data that was registered and stored not more than five minutes, specifically within a range of 3-60 seconds, prior to detecting that the first vehicle entered the parking state at a parking position along the roadside; or information or data that was registered and stored not more than 2000 metres, specifically not more than 1000 metres, prior to the parking position along the roadside. These two options also ensure that only relevant forwards visibility information is retrieved and processed, thereby avoiding unnecessary computational effort.
The underlying idea of this example embodiment of the disclosure is to evaluate the forwards visibility information as experienced and detected by the first vehicle 21 when driving along the road, and assuming that a rear-coming second vehicle 22 experiences approximately the same condition as the first vehicle 21 experienced shortly before, and thereby being able to make a qualified estimation of at which distance from the first vehicle 21 the user, driver or driving system of the rear-coming second vehicle 22 will detect the first vehicle 21 when parking at the parking position. In other words, the basic concepts of this example embodiment of the disclosure is to determine the visual or detectable range to parking position 24 as measured from the position at which the parking position 24 enters the visual or detectable range of the image sensor, radar sensor, a LIDAR sensor, or the like, of the first vehicle 21.
Visual range detection by radar and LIDAR sensors may for example be performed by identifying the parking position 24 in a received radar or LIDAR image by image recognition and subsequently calculating the range by the equation
Visual range detection by image sensor may for example be performed by measuring size of an object in pixels or the like and determine the range thereto be by comparing with a known real size of that object, such as a the height 50 of a normal traffic sign 51, as schematically illustrated in
Consequently, the registered and stored and subsequently retrieved forwards visibility information include information relating to a distance between the parking position 24 and the position of the first vehicle 21 when first coming into visual range of the parking position 24.
The term forwards visibility information may thus be deemed relating to forwards visibility range information, i.e. how far ahead on the road a user, driver or vehicle driving system may see and detect a stationary vehicle.
A certain adjustment of said distance may be performed for adopting to the assumed vehicle configuration of the second vehicle 22. For example, if for example the second vehicle is driven by a user, the visibility or detection range of said user may differ from the detection range of an image sensor, radar sensor or LIDAR sensor, or the like.
The above-disclosed concept will be described more in detail with reference to
Specifically,
When performing the method for operating the vehicle hazardous parking warning system for warning a user of a first vehicle about hazardous parking of the first vehicle according to the disclosure, the electronic control system 8 retrieved stored forwards information from the data storage 9 for detecting at which distance from the first vehicle 21 a rear-coming second vehicle 22 likely will detect stationary first vehicle 21.
Many different methods may be used for quickly determining said distance. For example, as illustrated in the sequences of
For example, the electronic control system 8 may, based on the retrieved forwards visibility information reflecting the visibility by the first vehicle when located at a first position Pos_1 that is located approximately a first distance 26 away from the parking position 24, as illustrated in
The electronic control system 8 may then, using the same approach, repeat the evaluation for a second and third position Pos_2, Pos_3, as illustrated in
However, when the electronic control system 8 evaluates the visibility of the parking position at the fourth position Pos_4, as illustrated in
The electronic control system 8 may then, based on said third distance 27 and an estimated speed of the second rear-coming vehicle 22, calculate a reaction time that is available for a user, driver or driving system of the second rear-coming vehicle 22, for detecting the stationary first vehicle 21 for enabling a safe passing of the stationary first vehicle 21.
In other words, the risk parameter reflecting a risk for the parked first vehicle being hit by a rear-coming second vehicle 22, may for example be an estimated distance to the parking position of the first vehicle when coming into visual range of the parked first vehicle, as experienced by a second, rear-coming, vehicle, or driver thereof. Alternatively, the risk parameter reflecting a risk for the parked first vehicle being hit by a rear-coming second vehicle 22, may for example be an estimated time period from detecting the parked first vehicle until arriving at the parked first vehicle, as experienced by a second, rear-coming, vehicle, or driver thereof. This may for example be performed based by assuming that the second vehicle 22 is driving at constant speed at road speed limit.
Consequently, the second substep S221 of calculating a level of a risk parameter reflecting a risk for the parked first vehicle 21 being hit by a second, rear-coming, vehicle 22, based on the retrieved forwards visibility information, may involve calculating an estimated distance to the parking position 24 of the first vehicle 21 when the second vehicle 22 comes into visual range of the parked first vehicle 21, or a corresponding estimated time period.
Moreover, the third sub step S231 of determining that the parking position 24 is a hazardous parking position 24 may then simply involve comparing said calculated level of the risk parameter with a predetermined threshold value, and concluding that the parking position 24 is indeed a hazardous parking position when said level of said risk parameter exceeds the threshold value.
The example embodiment of the method for operating a vehicle hazardous parking warning system for warning a user of a first vehicle 21 about hazardous parking of the first vehicle 21 may thus be deemed involving the followings steps, as described with reference to
Furthermore, with reference to
Still a further example embodiment of how to perform said second main step S20 is described below with reference to
Similar to the example embodiment described above with reference to
For example, the retrieved sensor data include: sensor data indicating road curvature, in particular steering wheel angular position data, vehicle lateral acceleration data, steering rack position data of a power steering system, wheel suspension data, and/or gyro data; sensor data indicating road slope, in particular vehicle pitch angle data, propulsion motor torque output data, or vertical acceleration data; and/or sensor data indicating vehicle speed or position, in particular wheel rotational speed data, propulsion motor rotational speed data, or GPS data.
The sensors of the set of sensor units described above are for example installed within the first vehicle 21 or within a smartphone 15 located within the first vehicle 21.
Steering wheel angular position data may be detected by means of a steering wheel angular sensor, and corresponding vehicle turning radius may be calculated based on vehicle wheel base. Moreover, vehicle lateral acceleration data may be detected by acceleration sensors arranged for detecting vehicle lateral and/or longitudinal acceleration. Road curvature may also be calculated by registering steering rack position data of a power steering system by means of a suitable linear displacement sensor. Furthermore, wheel suspension data, measured using for example a suitable linear displacement sensor at each wheel, may be used for estimating road curvature and slope via the registered compression. Finally, road curvature and/or slope may also be detected using a gyro sensor.
The acceleration and/or gyro sensors may for example be integrated in a smartphone in combination with vehicle speed derivable by means of a GPS-receiver within the smartphone.
Based on sensor data reflecting curvature and slope of a road stretch travelled by the first vehicle 21 shortly before arriving at the parking position 24, and preferably also vehicle speed, an estimate of the visibility of the parking position 24 by a second rear-coming vehicle 22 may be performed. For example, the road crest 19 of
The method may alternative involve determining a 3D path of said road stretch based on said sensor data reflecting curvature and slope of a road stretch travelled by the first vehicle 21 shortly before arriving at the parking position 24, wherein the second sub step S222 of calculating a level of a risk parameter reflecting a risk for the parked first vehicle being hit by a second, rear-coming, vehicle based on the retrieved sensor data is performed using said 3D path.
The retrieved sensor data may for example correspond to forwards visibility information or sensor data that was registered and stored not more than five minutes, specifically within a range of 3-60 seconds, prior to detecting that the first vehicle 21 having entered the parking state at a parking position along the roadside. Alternatively, the retrieved sensor data may for example correspond to information or data that was registered and stored not more than 2000 metres, specifically not more than 1000 metres, prior to the parking position 24 along the roadside.
This example embodiment of the method for operating a vehicle hazardous parking warning system for warning a user of a first vehicle 21 about hazardous parking of the first vehicle 21 may thus be deemed involving the followings steps, as described with reference to
Furthermore, with reference to
Still a further example embodiment of how to perform said second main step S20 is described below with reference to
The underlying idea of this example embodiment of the disclosure is thus to use already available sensor data having either forwards visibility information or curvature and slope data, or all of it, included therein, thereby effectively eliminating the need for the first vehicle 21 to itself register said forwards visibility information or curvature and slope data. The forwards visibility information or curvature and slope data may instead be registered by a third vehicle and thereafter be stored at a location accessible for electronic control system 8 of the first vehicle 21 when needed.
For example, with reference to
In particular, forwards visibility information or curvature and slope data is first registered by the third vehicle 23 and stored together with geographical location data as received from a GPS satellite system 31 on for example a remote stationary server 29 via a wireless communication system 32. The stored forwards visibility information or curvature and slope data may for example correspond to a set of geographical positions 33a, 33b, 33c, 33d, 33e, each associated with a certain visibility range, e.g. 400 m, 200 m, 100 m, 1000 m, 1000 m, respectively.
The step of evaluating the stored forwards visibility information or curvature and slope data for each geographical position 33a, 33b, 33c, 33d, 33e and deriving a certain unique visibility range may be performed by the server or other cloud computing resource, thereby significantly reducing the computing load of the electronic control system of the first vehicle 21.
In case of a subsequent emergency breakdown or the like of the first vehicle 21 at a parking position 24, the stationary first vehicle 21 may simply retrieve sensor data for the relevant parking location 24, for example by downloading from the remote server 29 or having the sensor data stored in the data storage 9 in the vehicle. The sensor data includes forwards visibility information and/or road curvature data and road slope data of the road stretch leading up to the parking position 24, i.e. the road stretch travelled by the first vehicle 21 shortly before arriving at the parking position 24. As mentioned above, the sensor data may include visibility range for a set of geographical locations. Based on the sensor data the electronic control system 8 may calculate a level of a risk parameter reflecting a risk for the parked first vehicle 21 being hit by a second, rear-coming, vehicle 22, and concluding hazardous parking position when said level of said risk parameter exceeds a threshold value.
Alternatively, the stationary first vehicle 21 may simply upload its geographical position to for example the remote server 29, which thereafter may be configured to calculate said level of a risk parameter reflecting a risk for the parked first vehicle 21 being hit by a second, rear-coming, vehicle 22, and concluding hazardous parking position when said level of said risk parameter exceeds a threshold value, thereby enabling even less computational effort by the electronic control system 8 of the first vehicle 21.
This example embodiment of the method for operating a vehicle hazardous parking warning system for warning a user of a first vehicle 21 about hazardous parking of the first vehicle 21 may thus be deemed involving the followings steps, as described with reference to
Furthermore, with reference to
Furthermore, still a further example embodiment of how to perform said second main step S20 is described below with reference to
The underlying idea of this example embodiment of the disclosure is thus to use already produced geographic information identifying areas of dangerous parking along the road 20, thereby effectively eliminating the need for the first vehicle 21 to for example register forwards visibility information or curvature and slope data and also to transform said information or data to useful conclusions about dangerous parking. The evaluation of the level of risk for being hit be a rear-coming second vehicle, at each location along the road 20, is instead performed long before based on for example map data, forwards visibility information, road curvature and slope data, generally hazardous road positions such as for example railroad crossing, road crossings, etc. Said pre-evaluation of the level of risk for being hit be a rear-coming second vehicle at each location along the road 20 may for example be performed by a remote server or cloud computing resources, and then made available for downloading to various users or vehicles, such as the first vehicle 21, when needed, thereby significantly reducing the computing load of the electronic control system 8 of the first vehicle 21.
In other words, an evaluation of the level of risk for being hit be a rear-coming second vehicle 22, at each location along the road 20, may be performed based on forwards visibility information provided by a forwards directed sensor unit 10 of a vehicle, such as the first or third vehicle 21, 23.
For example, with reference to
When driving on the right side of the road 20 along the direction indicated by arrow 38, a first dangerous parking area 34a is caused by the hill 35, because the crest 39 of the hill 35 will effectively block the view of a stationary vehicle parked in the first dangerous parking area 34a, for example due to emergency breakdown or the like. In other words, a second rear-coming vehicle 22 will detect a stationary first vehicle 21 in parked state in the first dangerous parking area 34a first when arriving at the crest 39 of the hill 25, thereby giving the second rear-coming vehicle 22 relatively short reaction time for detecting and passing the first vehicle 21 in a safe manner.
Similarly, when driving on the right side of the road 20 along the direction indicated by arrow 38, a second dangerous parking area 34b is caused by the area of trees 37, because the trees 37 in combination with the road bend 40 will effectively block the view of a stationary vehicle parked in the second dangerous parking area 34b, for example due to emergency breakdown or the like. In other words, a second rear-coming vehicle 22 will detect a stationary first vehicle 21 in the second dangerous parking area 34b first when arriving at the bend 40, thereby giving the second rear-coming vehicle 22 relatively short reaction time for detecting and passing the first vehicle 21 in a safe manner.
When driving on the right side of the road 20 in the opposite direction to the direction indicated by arrow 38, a third dangerous parking area 34c is caused by the area of trees 37, because the trees 37 in combination with the road bend 40 will effectively block the view of a stationary vehicle parked in the third dangerous parking area 34c, for example due to emergency breakdown or the like. In other words, a second rear-coming vehicle 22 will detect a stationary first vehicle 21 in the third dangerous parking area 34c first when arriving at the bend 40, thereby giving the second rear-coming vehicle 22 relatively short reaction time for detecting and passing the first vehicle 21 in a safe manner.
Similar to the first example, when driving on the right side of the road 20 in the opposite direction to the direction indicated by arrow 38, a fourth dangerous parking area 34d is caused by the hill 35, because the crest 39 of the hill 35 will effectively block the view of a stationary vehicle parked in the fourth dangerous parking area 34d, for example due to emergency breakdown or the like. In other words, a second rear-coming vehicle 22 will detect a stationary first vehicle 21 in the fourth dangerous parking area 34d first when arriving at the crest 39 of the hill 25, thereby giving the second rear-coming vehicle 22 relatively short reaction time for detecting and passing the first vehicle 21 in a safe manner.
Consequently, in case of an emergency breakdown or the like of the first vehicle 21 at a parking position 24, as illustrated in
The calculation of a level of a risk level may Boolean, i.e. either yes or no. Alternatively, parking on an area associated with dangerous parking may result in a certain risk value that is higher than the threshold value. Still more alternatively, the geographic information identifying areas of dangerous parking may include different levels of dangerousness with each area, and calculation of the level of risk may simply involve identifying the level of risk associated with the parking position 24. Finally, the method involves determining that the parking position is a hazardous parking position when said level of said risk parameter exceeds a threshold value.
Alternatively, the stationary first vehicle 21 may simply upload its geographical position to for example a remote server, which thereafter may be configured to calculate said level of a risk parameter reflecting a risk for the parked first vehicle 21 being hit by a second, rear-coming, vehicle 22, based on retrieved geographic information identifying areas of dangerous parking, and concluding hazardous parking position when said level of said risk parameter exceeds a threshold value, thereby enabling even less computational effort by the electronic control system 8 of the first vehicle 21.
This example embodiment of the method for operating a vehicle hazardous parking warning system for warning a user of a first vehicle 21 about hazardous parking of the first vehicle 21 may thus be deemed involving the followings steps, as described with reference to
Furthermore, with reference to
The areas of dangerous parking 34a-d of the retrieved geographic information may for example be obtained based on sensor data registered by at least one forwards directed sensor unit 10 of a vehicle, such as the first or a third vehicle 21, 23, while travelling a road stretch leading up to the parking position, wherein the sensor data corresponds to forwards visibility information reflecting visibility of the parking position of the first vehicle 21. Thereby, estimation of the visibility of the stationary first vehicle 21, as perceived by a driver or driving system of a rear-coming second vehicle 22, may be cost-efficiently and reliably obtained.
In some example embodiments, that may be applied individually or in combination with the forwards directed sensor unit, the areas of dangerous parking 34a-d of the retrieved geographic information may be identified based on sensor data registered by a set of sensor units associated with a vehicle, such as the first or a third vehicle 21, 23, while travelling a road stretch leading up to the parking position, wherein the sensor data corresponds to curvature and/or slope data of said road stretch and reflects visibility of the parking position of the first vehicle. In other words, the curvature and/or slope data of said road stretch leading up to the parking position provided by the set of sensor units may be deemed corresponding to forwards visibility information reflecting visibility of the parking position of the first vehicle, because road curvature and/or slope data may be used for estimating the visibility range of the driver or driver system of a vehicle. Consequently, estimation of the visibility of the stationary first vehicle, as perceived by a driver or driving system of a rear-coming second vehicle, may be cost-efficiently and reliably obtained.
In other example embodiments, the areas of dangerous parking of the retrieved geographic information may be identified based on a combination of sensor data registered by at least one forwards directed sensor unit of a vehicle and sensor data registered by a set of sensor units associated with a vehicle curvature and/or slope data, while travelling a road stretch leading up to the parking position.
The various different methods and systems for performing of the second main step S20 described above, i.e. the various different methods and systems for determining whether the parking position of the first vehicle 21 is hazardous in terms of risk that the parked first vehicle 21 being hit by a rear-coming second vehicle 22, may of course be implemented in various combinations for further increasing the reliability and accuracy of the level of hazard for rear collision while parking. For example, the use of forwards visibility information provided by a forwards directed sensor unit 10 of the first vehicle 21, as described with reference to
The above-mentioned road stretch travelled by the first vehicle 21 shortly before arriving at the parking position 24 may for example correspond to a road stretch extending not more than 2000 metres, specifically not more than 1000 metres, prior to the parking position 24 of the first vehicle 21. In other words, it is generally only relevant to the check the road stretch immediately before arriving at the parking position 24 from a rear side, because only this area has an effect on the risk for rear collision with the stationary first vehicle 21.
Moreover, the above-mentioned risk parameter reflecting a risk for the parked first vehicle 21 being hit by a second, rear-coming, vehicle 22, may be any of, or a combination of: risk assessment score value; an estimated distance to the parking position of the first vehicle when coming into visual range of the parked first vehicle, as experienced by a second, rear-coming, vehicle, or driver thereof; or an estimated time period from detecting the parked first vehicle until arriving at the parked first vehicle, as experienced by a second, rear-coming, vehicle, or driver thereof. The estimated time period may for example be calculated based on assumed constant driving speed, for example at the road speed limit.
The step of calculating the level of the risk parameter may additionally take road or road lane width at the parking position into account. A relatively narrow road contributes to increased risk for the parked first vehicle being hit by a second, rear-coming, vehicle 22 due to the decreased possibility to safely pass the first vehicle 21. Road width 41 and lane width 42 are defined in
Moreover, a further aspect that may be relevant and taken into account, alone or in combination with the road width 41 or road lane width 42 when calculating the level of the risk parameter, is the size or portion of the road or road lane width that is blocked by the first vehicle 21 at the parking position 24. The blocked portion of the road 20 may for example be defined in percentage or in metres of the road or road lane width. With reference again to
A further example is schematically illustrated in
Still a further example is schematically illustrated in
Moreover, a further aspect that may be relevant and taken into account, alone or in combination with the features described above, when calculating the level of the risk parameter, is road speed limit at the parking position 24 and/or on the road stretch leading up to the parking position. A relatively high road speed limit may be deemed contributing to increased risk for the parked first vehicle being hit by a second, rear-coming, vehicle due to reduced reaction time.
Moreover, a further aspect that may be relevant and taken into account, alone or in combination with the features described above, when calculating the level of the risk parameter, is foggy weather condition at the parking position and/or on the road stretch leading up to the parking position. A foggy weather condition contributes to increased risk for the parked first vehicle being hit by a second, rear-coming, vehicle, because the visibility is reduced.
Moreover, a further aspect that may be relevant and taken into account, alone or in combination with the features described above, when calculating the level of the risk parameter, is precipitation condition (rain, snow) at the parking position. Similar to above, precipitation condition contributes to increased risk for the parked first vehicle being hit by a second, rear-coming, vehicle, because the visibility is reduced.
Moreover, a further aspect that may be relevant and taken into account, alone or in combination with the features described above, when calculating the level of the risk parameter, is sunlight, in particular incident angle of sunlight relative to the orientation of the road stretch leading up to parking position 24, i.e. road stretch travelled by the first vehicle shortly, e.g. about for example within 5-300 m, before arriving at the parking position. Sun glare on the driver or driving system of the second, rear-coming, vehicle 22 typically contributes to increased risk for the parked first vehicle being hit by the second, rear-coming, vehicle 22 due to decreased visibility.
Moreover, a further aspect that may be relevant and taken into account, alone or in combination with the features described above, when calculating the level of the risk parameter, is outdoor light condition at the parking position. Low outdoor light condition, i.e. darkness, contributes to increased risk for the parked first vehicle being hit by the second, rear-coming, vehicle, due to reduced visibility.
Moreover, a further aspect that may be relevant and taken into account, alone or in combination with the features described above, when calculating the level of the risk parameter, is road grip at the parking position. Poor road grip, for example die snow, ice, or the like, typically contributes to increased risk for the parked first vehicle being hit by the second, rear-coming, vehicle, because stop distance in increased and less prompt evasive driving manoeuvre may be performed.
Moreover, a further aspect that may be relevant and taken into account, alone or in combination with the features described above, when calculating the level of the risk parameter, is traffic intensity at the parking position. High traffic intensity contributes to increased risk for the parked first vehicle being hit by the second, rear-coming, vehicle, because the driver or driving system of second vehicle 22 is more distracted, and there may be less room or possibility to avoid collision by evasive manoeuvre. In addition, oncoming traffic causes more glare during dark ambient conditions.
Moreover, a further aspect that may be relevant and taken into account, alone or in combination with the features described above, when calculating the level of the risk parameter, is first vehicle detectability by a driver or driving system of the second, rear-coming, vehicle. A poor first vehicle detectability contributes to increased risk for the parked first vehicle being hit by the second, rear-coming, vehicle. A large and brightly coloured first vehicle 21 is generally more easily detectable at a distance from the behind compared with a small and non-brightly coloured vehicle.
The various factors described above may be taken into account by designating each of a selected set of them with a certain value or points, and subsequently calculating a risk assessment score value, i.e. a total score, by totaling the value or points of each relevant risk factor. For example, with reference to
Specifically, with reference to
It should be noted that the sequence for evaluating the selected factors may be performed in any order and do not necessarily imply an order as provided. Rather, the methods discussed are merely one embodiment of the present disclosure as contemplated.
In this example embodiment, calculation of a level of a risk parameter involves determining a risk assessment score value by calculating the sum of the attributed risk assessments points resulting from the evaluation, and thereafter comparing the risk assessment score value with a predetermined value.
Additional factors may of course be taken into account. Furthermore, one or more or all of the factors taken into account may also be associated with more refined and gradual risk assessment points, such that each factor is attributed a more correct risk assessment point value. For example, with reference to example method of
The disclosure also relates to a computer program comprising instructions, which, when the program is executed by a computer, cause the computer to carry out the steps of the method described above.
The disclosure also relates to a computer-readable storage medium comprising instructions which, when executed by a computer, cause the computer to carry out the steps of the method described above.
The present disclosure has been presented above with reference to specific embodiments. However, other embodiments than the above described are possible and within the scope of the disclosure. Different method steps than those described above, performing the method by hardware or software, may be provided within the scope of the disclosure. Thus, according to an exemplary embodiment, there is provided a non-transitory computer-readable storage medium storing one or more programs configured to be executed by one or more processors of the vehicle hazardous parking warning system, the one or more programs comprising instructions for performing the method according to any one of the above-discussed embodiments. Alternatively, according to another exemplary embodiment a cloud computing system can be configured to perform any of the method aspects presented herein. The cloud computing system may comprise distributed cloud computing resources that jointly perform the method aspects presented herein under control of one or more computer program products. Moreover, the processor may be connected to one or more communication interfaces and/or sensor interfaces for receiving and/transmitting data with external entities such as e.g. sensors arranged on the vehicle surface, an off-site server, or a cloud-based server.
The processor(s) associated with the electronic control system 8 of the vehicle hazardous parking warning system may be or include any number of hardware components for conducting data or signal processing or for executing computer code stored in memory. The system may have an associated memory, and the memory may be one or more devices for storing data and/or computer code for completing or facilitating the various methods described in the present description. The memory may include volatile memory or non-volatile memory. The memory may include database components, object code components, script components, or any other type of information structure for supporting the various activities of the present description. According to an exemplary embodiment, any distributed or local memory device may be utilized with the systems and methods of this description. According to an exemplary embodiment the memory is communicably connected to the processor (e.g., via a circuit or any other wired, wireless, or network connection) and includes computer code for executing one or more processes described herein.
It will be appreciated that the above description is merely exemplary in nature and is not intended to limit the present disclosure, its application or uses. While specific examples have been described in the specification and illustrated in the drawings, it will be understood by those of ordinary skill in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the present disclosure as defined in the claims. Furthermore, modifications may be made to adapt a particular situation or material to the teachings of the present disclosure without departing from the essential scope thereof.
Furthermore, the claims define lists of various features that may be implemented alone or various alternative combinations with each other, and even if not each and every single alternative combination of features is explicitly disclosed herein for sake of clarity and conciseness of the description, all said various combinations of features stemming from the listed options may in fact be selected and implemented and should thus be deemed disclosed herein.
Therefore, it is intended that the present disclosure not be limited to the particular examples illustrated by the drawings and described in the specification as the best mode presently contemplated for carrying out the teachings of the present disclosure, but that the scope of the present disclosure will include any embodiments falling within the foregoing description and the appended claims. Reference signs mentioned in the claims should not be seen as limiting the extent of the matter protected by the claims, and their sole function is to make claims easier to understand.
| Number | Date | Country | Kind |
|---|---|---|---|
| 20196688.4 | Sep 2020 | EP | regional |
This application is a continuation of International Patent Application No. PCT/CN2021/117391, filed Sep. 9, 2021, which claims the benefit of European Patent Application No. 20196688.4, filed Sep. 17, 2020, the disclosures of which are incorporated herein by reference in their entireties.
| Number | Date | Country | |
|---|---|---|---|
| Parent | PCT/CN2021/117391 | Sep 2021 | US |
| Child | 18079760 | US |
