Determining vertical headroom height for vehicle

Abstract

A system for determining a vertical headroom height of a vehicle may include a first ranging sensor operable to measure a distance relative to an object around the vehicle. The system may also include a display operable to provide information to an occupant of the vehicle. The system may also include a controller in electrical communication with the first ranging sensor and the display. The controller is programmed to determine a minimum required vertical headroom height based at least in part on a height of the vehicle. The controller is also programmed to determine a maximum available vertical headroom height through the first ranging sensor. The controller is also programmed to provide an alert to the occupant of the vehicle through the display in response to determining that the maximum available vertical headroom height is less than or equal to the minimum required vertical headroom height.

Description

Technical Field

[0001] The present disclosure relates to systems and methods for increasing vehicle occupant alertness, and more particularly, to systems and methods for determining vertical clearance of a vehicle. Background Art

[0002] To increase the comfort, convenience, and alertness of the occupants, the vehicle may be equipped with an advanced driver assistance system (ADAS) designed to assist the occupants in operating the vehicle. ADAS systems may detect and identify objects around the vehicle, including other vehicles, pedestrians, and traffic signs, through various sensors such as cameras, radar, ultrasound, and LiDAR. When a potential collision or obstacle is detected, the ADAS system may alert the occupants or take corrective action to prevent or mitigate the collision. In addition, the vehicle may be equipped with parking sensors to assist the occupants in maneuvering the vehicle when parking, especially in confined spaces. Parking sensors may include, for example, ultrasonic ranging sensors. However, current ADAS systems and parking sensors may not take vehicle height into account when maneuvering in low clearance environments and / or additional cargo and / or accessories are secured to the roof of the vehicle.

[0003] Therefore, while current ADAS and parking sensor systems and methods achieve their intended purposes, a new and improved system and method is needed for determining the vertical clearance height of a vehicle. Summary of the invention

[0004] According to several aspects, a system for determining the vertical clearance height of a vehicle is provided. The system may include a first ranging sensor operable to measure the distance relative to an object around the vehicle. The system may also include a display operable to provide information to an occupant of the vehicle. The system may also include a controller in electrical communication with the first ranging sensor and the display. The controller is programmed to determine a minimum required vertical clearance height based at least in part on the height of the vehicle. The controller is also programmed to determine a maximum available vertical clearance height through the first ranging sensor. The controller is also programmed to provide a warning to an occupant of the vehicle through the display in response to determining that the maximum available vertical clearance height is less than or equal to the minimum required vertical clearance height.

[0005] In another aspect of the present disclosure, the display is further configured to receive input from an occupant of the vehicle. The controller is further programmed to receive a height of the vehicle from an occupant of the vehicle via the display to determine the minimum required vertical clearance height based at least in part on the height of the vehicle. The controller is further programmed to determine the minimum required vertical clearance height based at least in part on the height of the vehicle to determine the minimum required vertical clearance height based at least in part on the height of the vehicle.

[0006] In another aspect of the disclosure, the system includes at least one vertical height sensor in electrical communication with the controller. The controller is further programmed to perform at least one vertical height measurement by the at least one vertical height sensor to determine a minimum required vertical clearance height based at least in part on the height of the vehicle. The at least one vertical height measurement is the distance between a roof of the vehicle and the ground. The controller is further programmed to determine the minimum required vertical clearance height based at least in part on the at least one vertical height measurement to determine the minimum required vertical clearance height based at least in part on the height of the vehicle.

[0007] In another aspect of the present disclosure, at least one vertical height sensor may further include a first vertical height sensor, a second vertical height sensor, a third vertical height sensor, and a fourth vertical height sensor. The controller is further programmed to perform a first vertical height measurement by the first vertical height sensor to determine the minimum required vertical clearance height. The first vertical height measurement is the distance between the first corner of the roof of the vehicle and the ground. The controller is further programmed to perform a second vertical height measurement by the second vertical height sensor to determine the minimum required vertical clearance height. The second vertical height measurement is the distance between the second corner of the roof of the vehicle and the ground. The controller is further programmed to perform a third vertical height measurement by the third vertical height sensor to determine the minimum required vertical clearance height. The third vertical height measurement is the distance between the third corner of the roof of the vehicle and the ground. The controller is further programmed to perform a fourth vertical height measurement by the fourth vertical height sensor to determine the minimum required vertical clearance height. The fourth vertical height measurement is the distance between the fourth corner of the roof of the vehicle and the ground. The controller is further programmed to determine a minimum required vertical clearance height based at least in part on the first vertical height measurement, the second vertical height measurement, the third vertical height measurement, and the fourth vertical height measurement to determine the minimum required vertical clearance height.

[0008] In another aspect of the present disclosure, the first ranging sensor may further include a distance sensing element and a motor operable to rotate the distance sensing element along a pitch axis. The controller is also programmed to measure the Euclidean distance between the first ranging sensor and an object around the vehicle through the distance sensing element to determine the maximum available vertical clearance height through the first ranging sensor. The controller is also programmed to determine the vertical clearance height based at least in part on the Euclidean distance and the pitch angle of the distance sensing element relative to the roof of the vehicle to determine the maximum available vertical clearance height through the first ranging sensor. The controller is also programmed to rotate the distance sensing element through the motor to change the pitch angle of the distance sensing element to determine the maximum available vertical clearance height through the first ranging sensor. The controller is also programmed to repeatedly measure the Euclidean distance, determine the vertical clearance height, and rotate the distance sensing element to determine multiple vertical clearance heights to determine the maximum available vertical clearance height through the first ranging sensor. The controller is further programmed to determine a maximum available vertical headroom as a sum of a minimum of the plurality of vertical headrooms and a minimum of the first vertical height measurement, the second vertical height measurement, the third vertical height measurement, and the fourth vertical height measurement to determine the maximum available vertical headroom via the first ranging sensor.

[0009] In another aspect of the present disclosure, the first ranging sensor is further configured to measure the distance relative to an object in front of the vehicle. The system also includes a second ranging sensor in electrical communication with the controller. The second ranging sensor is configured to measure the distance relative to an object behind the vehicle.

[0010] In another aspect of the present disclosure, to determine the vertical headroom, the controller is further programmed to determine the vertical headroom by the following equation:

[0011] c v =d e *sinθ p

[0012] where c v is the vertical headroom, d e is the Euclidean distance, and θ p is the pitch angle.

[0013] In another aspect of the present disclosure, the controller is further programmed to determine the minimum required vertical clearance equal to a maximum of the first vertical height measurement, the second vertical height measurement, the third vertical height measurement, and the fourth vertical height measurement to determine the minimum required vertical clearance.

[0014] In another aspect of the present disclosure, the controller is further programmed to determine a height of a roof-mounted accessory secured to a roof of the vehicle to determine the minimum required vertical clearance height. The controller is further programmed to determine the minimum required vertical clearance height equal to the sum of the height of the roof-mounted accessory and a maximum of the first vertical height measurement, the second vertical height measurement, the third vertical height measurement, and the fourth vertical height measurement to determine the minimum required vertical clearance height.

[0015] In another aspect of the present disclosure, the system further includes a telescopic interdictory beam sensor system secured to a roof of the vehicle, the telescopic interdictory beam sensor system including a first telescopic interdictory beam sensor and a second telescopic interdictory beam sensor in electrical communication with the controller, respectively. The telescopic interdictory beam sensor system is operable to detect an object that blocks a line of sight between the first telescopic interdictory beam sensor and the second telescopic interdictory beam sensor. The controller is further programmed to extend the first telescopic interdictory beam sensor and the second telescopic interdictory beam sensor until a line of sight between the first telescopic interdictory beam sensor and the second telescopic interdictory beam sensor is not blocked to determine a height of a roof-mounted accessory. The controller is further programmed to retract the first telescopic interdictory beam sensor and the second telescopic interdictory beam sensor until a line of sight between the first telescopic interdictory beam sensor and the second telescopic interdictory beam sensor is blocked by the roof-mounted accessory to determine a height of the roof-mounted accessory. To determine the height of the roof mounted accessory, the controller is also programmed to determine that the height of the roof mounted accessory is equal to the height of the first telescopic break beam sensor and the second telescopic break beam sensor after retracting the first telescopic break beam sensor and the second telescopic break beam sensor until a line of sight between the first telescopic break beam sensor and the second telescopic break beam sensor is blocked by the roof mounted accessory.

[0016] According to several aspects, a method for determining vertical clearance of a vehicle is provided. The method may include determining a minimum required vertical clearance based at least in part on a height of the vehicle. The method may also include determining a maximum available vertical clearance via a first ranging sensor. The method may also include providing a warning to an occupant of the vehicle via a display in response to determining that the maximum available vertical clearance is less than or equal to the minimum required vertical clearance.

[0017] In another aspect of the present disclosure, determining the minimum required vertical clearance height may also include performing at least one vertical height measurement by at least one vertical height sensor. The at least one vertical height measurement is the distance between the roof of the vehicle and the ground. Determining the minimum required vertical clearance height may also include determining the minimum required vertical clearance height based at least in part on the at least one vertical height measurement.

[0018] In another aspect of the present disclosure, determining the minimum required vertical clearance height may also include performing a first vertical height measurement by a first vertical height sensor. The first vertical height measurement is the distance between a first corner of a roof of the vehicle and the ground. Determining the minimum required vertical clearance height may also include performing a second vertical height measurement by a second vertical height sensor. The second vertical height measurement is the distance between a second corner of a roof of the vehicle and the ground. Determining the minimum required vertical clearance height may also include performing a third vertical height measurement by a third vertical height sensor. The third vertical height measurement is the distance between a third corner of a roof of the vehicle and the ground. Determining the minimum required vertical clearance height may also include performing a fourth vertical height measurement by a fourth vertical height sensor. The fourth vertical height measurement is the distance between a fourth corner of a roof of the vehicle and the ground. Determining the minimum required vertical clearance height may also include determining the minimum required vertical clearance height based at least in part on the first vertical height measurement, the second vertical height measurement, the third vertical height measurement, and the fourth vertical height measurement.

[0019] In another aspect of the present disclosure, determining the maximum available vertical clearance by the first ranging sensor may also include measuring the Euclidean distance between the first ranging sensor and objects around the vehicle by a distance sensing element of the first ranging sensor. Determining the maximum available vertical clearance by the first ranging sensor may also include determining the vertical clearance based at least in part on the Euclidean distance and a pitch angle of the distance sensing element relative to a roof of the vehicle. Determining the maximum available vertical clearance by the first ranging sensor may also include rotating the distance sensing element to change the pitch angle of the distance sensing element. Determining the maximum available vertical clearance by the first ranging sensor may also include repeatedly measuring the Euclidean distance, determining the vertical clearance, and rotating the distance sensing element to determine a plurality of vertical clearances. Determining the maximum available vertical clearance by the first ranging sensor may also include determining the maximum available vertical clearance as the sum of a minimum of a plurality of vertical clearances and a minimum of the first vertical height measurement, the second vertical height measurement, the third vertical height measurement, and the fourth vertical height measurement.

[0020] In another aspect of the disclosure, determining the minimum required vertical clearance may further include determining the minimum required vertical clearance equal to a maximum of the first vertical height measurement, the second vertical height measurement, the third vertical height measurement, and the fourth vertical height measurement.

[0021] In another aspect of the present disclosure, determining the minimum required vertical clearance height may also include determining a height of a roof-mounted accessory secured to a roof of the vehicle. Determining the minimum required vertical clearance height may also include determining the minimum required vertical clearance height equal to the sum of the height of the roof-mounted accessory and a maximum of the first vertical height measurement, the second vertical height measurement, the third vertical height measurement, and the fourth vertical height measurement.

[0022] In another aspect of the present disclosure, determining the height of the roof-mounted accessory may further include extending the first telescopic interdiction beam sensor and the second telescopic interdiction beam sensor until a line of sight between the first telescopic interdiction beam sensor and the second telescopic interdiction beam sensor is not obstructed. Determining the height of the roof-mounted accessory may further include retracting the first telescopic interdiction beam sensor and the second telescopic interdiction beam sensor until a line of sight between the first telescopic interdiction beam sensor and the second telescopic interdiction beam sensor is obstructed by the roof-mounted accessory. Determining the height of the roof-mounted accessory may further include determining that the height of the roof-mounted accessory is equal to the height of the first telescopic interdiction beam sensor and the second telescopic interdiction beam sensor after retracting the first telescopic interdiction beam sensor and the second telescopic interdiction beam sensor until a line of sight between the first telescopic interdiction beam sensor and the second telescopic interdiction beam sensor is obstructed by the roof-mounted accessory.

[0023] According to several aspects, a system for determining a vertical clearance height of a vehicle is provided. The system may include a first ranging sensor operable to measure a distance relative to an object in front of the vehicle. The first ranging sensor includes a distance sensing element and a motor operable to rotate the distance sensing element along a pitch axis. The system may also include at least one vertical height sensor. The system may also include a display operable to provide information to an occupant of the vehicle. The system may also include a controller in electrical communication with the first ranging sensor, the at least one vertical height sensor, and the display. The controller is programmed to perform at least one vertical height measurement via the at least one vertical height sensor. The at least one vertical height measurement is the distance between a roof of the vehicle and the ground. The controller is programmed to determine a minimum required vertical clearance height based at least in part on the at least one vertical height measurement. The controller is programmed to determine a maximum available vertical clearance height via the first ranging sensor. The controller is programmed to provide a warning to an occupant of the vehicle via the display in response to determining that the maximum available vertical clearance height is less than or equal to the minimum required vertical clearance height.

[0024] In another aspect of the present disclosure, the controller is further programmed to perform a first vertical height measurement by a first vertical height sensor to determine the minimum required vertical clearance height. The first vertical height measurement is the distance between a first corner of the roof of the vehicle and the ground. The controller is further programmed to perform a second vertical height measurement by a second vertical height sensor to determine the minimum required vertical clearance height. The second vertical height measurement is the distance between a second corner of the roof of the vehicle and the ground. The controller is further programmed to perform a third vertical height measurement by a third vertical height sensor to determine the minimum required vertical clearance height. The third vertical height measurement is the distance between a third corner of the roof of the vehicle and the ground. The controller is further programmed to perform a fourth vertical height measurement by a fourth vertical height sensor to determine the minimum required vertical clearance height. The fourth vertical height measurement is the distance between a fourth corner of the roof of the vehicle and the ground. To determine the minimum required vertical clearance height, the controller is further programmed to determine the minimum required vertical clearance height based at least in part on the first vertical height measurement, the second vertical height measurement, the third vertical height measurement, and the fourth vertical height measurement. The minimum required vertical clearance height is the maximum of the first vertical height measurement, the second vertical height measurement, the third vertical height measurement, and the fourth vertical height measurement.

[0025] In another aspect of the present disclosure, the controller is also programmed to measure the Euclidean distance between the first ranging sensor and the objects around the vehicle through the distance sensing element to determine the maximum available vertical clearance height through the first ranging sensor. The controller is also programmed to determine the vertical clearance height based at least in part on the Euclidean distance and pitch angle of the first ranging sensor relative to the roof of the vehicle to determine the maximum available vertical clearance height through the first ranging sensor. The controller is also programmed to rotate the distance sensing element through the motor to change the pitch angle of the distance sensing element to determine the maximum available vertical clearance height through the first ranging sensor. The controller is also programmed to repeatedly measure the Euclidean distance, determine the vertical clearance height, and rotate the distance sensing element to determine multiple vertical clearance heights to determine the maximum available vertical clearance height through the first ranging sensor. To determine the maximum available vertical headroom via the first ranging sensor, the controller is further programmed to determine the maximum available vertical headroom as a sum of a minimum of the plurality of vertical headrooms and a minimum of the first vertical height measurement, the second vertical height measurement, the third vertical height measurement, and the fourth vertical height measurement.

[0026] Further areas of applicability will become apparent from the description provided herein.It should be understood that the description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way.

[0028] Figure 1 is a side schematic view of a system for determining vertical clearance of a vehicle according to an exemplary embodiment;

[0029] Figure 2 is a top schematic view of a system for determining vertical clearance of a vehicle according to an exemplary embodiment;

[0030] Figure 3 is a flow chart of a method for determining vertical clearance of a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION

[0031] The following description is merely exemplary in nature and is not intended to limit the present disclosure, application, or uses.

[0032] In aspects of the present disclosure, occupants may desire to maneuver a vehicle in spaces with low overhead clearance, including, for example, parking garages, tunnels, underpasses, etc. In addition, the vehicle may be equipped with roof-mounted accessories and / or cargo, such as a roof-mounted cargo box, thereby increasing the effective height of the vehicle. Current ADAS and parking assist systems may not provide measurement or warning capabilities based on vehicle height. Therefore, the present disclosure provides a new and improved system and method for determining the vertical clearance height of a vehicle, allowing for measurement of clearance in an environment, determination of vehicle height, and determination of the additional vehicle height added by roof-mounted accessories and / or cargo.

[0033] refer to Figure 1 and Figure 2 , a system for determining the vertical headroom of a vehicle is illustrated and generally indicated by reference numeral 10. The system 10 is shown with an exemplary vehicle 12. Although a passenger car is illustrated, it should be understood that the vehicle 12 may be any type of vehicle without departing from the scope of the present disclosure. Figure 1 A schematic diagram of the system 10 is illustrated from a side view of the vehicle 12 . Figure 2 A schematic diagram of the system 10 is illustrated from a top view of the vehicle 12. The system 10 generally includes a controller 14, a first ranging sensor 16a, a second ranging sensor 16b, at least one vertical height sensor 18, a telescoping broken beam sensor system 20, and a display 22.

[0034] The controller 14 is used to implement a method 100 for determining the vertical clearance height of a vehicle as will be described below. The controller 14 includes at least one processor 24 and a non-transitory computer readable storage device or medium 26. The processor 24 can be a custom or commercially available processor, a central processing unit (CPU), a graphics processing unit (GPU), an auxiliary processor of several processors associated with the controller 14, a semiconductor-based microprocessor (in the form of a microchip or chipset), a macroprocessor, a combination thereof, or generally a device for executing instructions. The computer readable storage device or medium 26 may include, for example, volatile and non-volatile storage in a read-only memory (ROM), a random access memory (RAM), and a keep-alive memory (KAM). KAM is a persistent or non-volatile memory that can be used to store various operating variables when the processor 24 is powered off. The computer readable storage device or medium 26 may be implemented by a variety of storage devices, such as PROM (Programmable Read Only Memory), ePROM (Electrical PROM), EEPROMs (Electrically Erasable PROM), flash memory, or other electrical, magnetic, optical, or combination storage devices capable of storing data, some of which represents executable instructions used by the controller 14 to control the various systems of the vehicle 12. The controller 14 may also be comprised of multiple controllers that are in electrical communication with each other. The controller 14 may be interconnected with additional systems and / or controllers of the vehicle 12, thereby allowing the controller 14 to access data, such as the speed, acceleration, braking, and steering angle of the vehicle 12.

[0035] The controller 14 is in electrical communication with the first ranging sensor 16a, the second ranging sensor 16b, the at least one vertical height sensor 18, the telescopic interrupted beam sensor system 20, and the display 22. In an exemplary embodiment, the electrical communication is established through, for example, a CAN network, a FLEXRAY network, a local area network (e.g., WiFi, Ethernet, etc.), a serial peripheral interface (SPI) network, etc. It should be understood that various additional wired and wireless technologies and communication protocols for communicating with the controller 14 are within the scope of the present disclosure.

[0036] The first ranging sensor 16a and the second ranging sensor 16b are used to measure distances relative to objects around the vehicle 12. In an exemplary embodiment, the first ranging sensor 16a is configured to measure distances relative to a first object 28a in front of the vehicle 12. The second ranging sensor 16b is configured to measure distances relative to a second object 28b behind the vehicle 12. In a non-limiting example, the first ranging sensor 16a is used when the vehicle 12 moves forward (e.g., toward the first object 28a). The second ranging sensor 16b is used when the vehicle 12 moves backward (e.g., toward the second object 28b).

[0037] In the present disclosure, any disclosure made with reference to the first ranging sensor 16a is equally applicable to the second ranging sensor 16b. Any disclosure made with reference to the second ranging sensor 16b is equally applicable to the first ranging sensor 16a. It should be understood that all system components and methods discussed with reference to the first ranging sensor 16a and / or the second ranging sensor 16b are equally applicable to the second ranging sensor 16b and / or the first ranging sensor 16a. In an exemplary embodiment, the first ranging sensor 16a and the second ranging sensor 16b are identical in structure and function, differing primarily in their location on the vehicle 12 and their field of view relative to the vehicle 12. It should be understood that device-specific operating parameters (such as calibration parameters and / or the like) may also differ between the first ranging sensor 16a and the second ranging sensor 16b.

[0038] The first distance measuring sensor 16a and the second distance measuring sensor 16b include a distance sensing element 30 and a motor 32. The distance sensing element 30 is used to measure the Euclidean distance d between the distance sensing element 30 and the first object 28a and / or the second object 28b. e . In an exemplary embodiment, the distance sensing element 30 is a LiDAR (Light Detection and Ranging) sensor. In an exemplary embodiment, the LiDAR sensor works by aiming a laser at an object in the environment and measuring the time required for reflected light from the laser to return to the LiDAR sensor. The use of alternative and / or additional ranging sensors (such as ultrasonic ranging sensors, radar sensors, time of flight sensors, and / or cameras) is within the scope of the present disclosure. As described above, the distance sensing element 30 is in electrical communication with the controller 14.

[0039] The motor 32 is used to move along the pitch axis 34 ( Figure 2 ) rotates the distance sensing element 30, thereby allowing the distance sensing element 30 to measure the distance between multiple points in the environment. In an exemplary embodiment, the motor 32 is a brushed DC motor, a brushless DC motor, an AC motor, a stepper motor, a servo motor, etc. The angle of the distance sensing element 30 is defined as the pitch angle θ p In an exemplary embodiment, the motor 32 also includes a motor configured to measure the pitch angle θ p The device includes, for example, a rotary encoder, a magnetic angle sensor, etc. In an exemplary embodiment, the motor 32 is capable of rotating the distance sensing element 30 within a pitch angle range defined as a pitch angle range. In a non-limiting example, the pitch angle range includes a minimum pitch angle of -45 degrees and a maximum pitch angle of 45 degrees. As described above, the motor 32 is in electrical communication with the controller 14.

[0040] In an exemplary embodiment, the first ranging sensor 16a and the second ranging sensor 16b are fixed to the roof 36 of the vehicle 12. In a non-limiting example, the first ranging sensor 16a is fixed adjacent to the front of the roof 36, with a field of view in front of the vehicle 12. The second ranging sensor 16b is fixed proximate to the rear of the roof 36, with a field of view behind the vehicle 12. The distance between the roof 36 and a point on the first object 28a and / or the second object 28b is defined as the vertical clearance height c v . Vertical clearance c v It can be based on the Euclidean distance d e and the pitch angle θ p to be determined, as will be discussed in more detail below.

[0041] At least one vertical height sensor 18 is used to determine the height of the vehicle 12. In an exemplary embodiment, the at least one vertical height sensor 18 includes a plurality of vertical height sensors 18. In an exemplary embodiment, the plurality of vertical height sensors 18 are configured to measure a distance relative to the ground 38. In an exemplary embodiment, the first vertical height sensor 18a measures a first vertical height measurement H1 ( Figure 1 The second vertical height sensor 18b measures a second vertical height measurement value H2 between the second corner of the roof 36 and the ground 38 ( Figure 1 ). The third vertical height sensor 18c ( Figure 2 ) measures a third vertical height measurement H3 (not shown) between a third corner of the roof 36 and the ground 38. The fourth vertical height sensor 18d ( Figure 2 ) Measure a fourth vertical height measurement H4 (not shown) between a fourth corner of the roof 36 and the ground 38.

[0042] In an exemplary embodiment, the plurality of vertical height sensors 18 are LiDAR (Light Detection and Ranging) sensors. In an exemplary embodiment, the LiDAR sensor operates by aiming a laser at the ground 38 and measuring the time required for reflected light from the laser to return to the LiDAR sensor. The use of alternative and / or additional ranging sensors (such as ultrasonic ranging sensors, radar sensors, time of flight sensors, and / or cameras) is within the scope of the present disclosure. As described above, the vertical height sensors 18 are in electrical communication with the controller 14.

[0043] The telescopic blocked beam sensor system 20 includes a first telescopic blocked beam sensor 20a and a second telescopic blocked beam sensor 20b. The first telescopic blocked beam sensor 20a and the second telescopic blocked beam sensor 20b are used to determine the height h of the roof mounted accessory 40. aWithin the scope of the present disclosure, a roof-mounted accessory 40 is any additional equipment secured to the roof 36 of the vehicle 12 to increase the utility, functionality, and / or aesthetic modification of the vehicle 12 (e.g., enhance storage capacity, improve aerodynamics, increase connectivity, etc.). Roof-mounted accessories 40 include, for example, roof racks, cargo boxes, roof baskets, roof-mounted storage bags, roof tents, bike racks, roof-mounted solar panels, roof-mounted antennas, etc.

[0044] In an exemplary embodiment, the first telescopic break beam sensor 20a and the second telescopic break beam sensor 20b include a telescopic mount 42 and a break beam element 44. The telescopic mount 42 is used to lift the break beam element 44 above the roof 36. The telescopic mount 42 is fixed to the roof 36 at a first end and fixed to the break beam element 44 at a second end. In a non-limiting example, the telescopic mount 42 is removably fixed to the roof 36 by a magnetic mount. In an exemplary embodiment, the telescopic mount 42 includes a series of nested tubes with gradually decreasing diameters. Through hydraulic and / or pneumatic actuation, these nested tubes are extended, thereby increasing the length of the telescopic mount 42.

[0045] In another exemplary embodiment, the telescopic mount 42 includes one or more electromechanical linear actuators, including, for example, a lead screw, a screw jack, a ball screw, a roller screw, a rack and pinion, etc. In another exemplary embodiment, the telescopic mount 42 includes a hydraulically, pneumatically and / or electrically actuated compliance mechanism. In an exemplary embodiment, the telescopic mount 42 also includes one or more sensors for measuring the height B of the beam-breaking element 44 above the roof 36, including, for example, a linear encoder, etc. It should be understood that any mechanism for raising the beam-breaking element 44 above the roof 36 is within the scope of the present disclosure. As described above, the telescopic mount 42 is in electrical communication with the controller 14.

[0046] The beam-breaking element 44 is used to detect a line of sight obstruction between the first telescopic beam-breaking sensor 20a and the second telescopic beam-breaking sensor 20b. In an exemplary embodiment, the beam-breaking element 44 includes at least one of a light emitter and a light sensor. The light emitter is a light source configured to generate a focused light beam. In a non-limiting example, the light emitter is a laser, a light emitting diode (LED), etc. The light sensor is a sensor configured to detect the focused light beam generated by the light emitter. In a non-limiting example, the light sensor includes a photodiode, a phototransistor, a photoresistor, etc.

[0047] In an exemplary embodiment, the beam-breaking element 44 of the first telescopic beam-breaking sensor 20a is configured to transmit a beam incident on a light sensor of the beam-breaking element 44 of the second telescopic beam-breaking sensor 20b. The beam-breaking element 44 of the second telescopic beam-breaking sensor 20b is configured to provide an electrical signal to the controller 14 indicating whether the beam is received by the light sensor. If the light sensor does not receive the beam, the line of sight between the first telescopic beam-breaking sensor 20a and the second telescopic beam-breaking sensor 20b is considered to be blocked. It should be understood that the first telescopic beam-breaking sensor 20a or the second telescopic beam-breaking sensor 20b can be used to transmit or receive a beam without departing from the scope of the present disclosure.

[0048] As discussed above, the blocked beam element 44 can be extended above the roof 36 by the telescoping mount 42. The telescoping mounts 42 of the first telescoping blocked beam sensor 20a and the second telescoping blocked beam sensor 20b extend and retract in unison so that the blocked beam elements 44 of the first telescoping blocked beam sensor 20a and the second telescoping blocked beam sensor 20b are aligned. As described above, the blocked beam element 44 is in electrical communication with the controller 14.

[0049] The first telescopic broken beam sensor 20a is aligned with the second telescopic broken beam sensor 20b so that when the height B of the broken beam element 44 above the roof 36 is less than or equal to the height h of the roof mounted accessory 40, a , the line of sight between the first telescopic blocking beam sensor 20a and the second telescopic blocking beam sensor 20b is blocked. a This can be determined by a first telescopic broken beam sensor 20a and a second telescopic broken beam sensor 20b, which will be discussed in more detail below.

[0050] Despite Figure 1 and Figure 2 1 and 2. Two telescopic interdictory beam sensors (i.e., a first telescopic interdictory beam sensor 20a and a second telescopic interdictory beam sensor 20b) are shown in the system 10, but it should be understood that the system 10 may include additional telescopic interdictory beam sensors without departing from the scope of the present disclosure. In a non-limiting example, the additional telescopic interdictory beam sensors are positioned so that they can be used to measure the height of cargo carried in a utility vehicle, such as around the perimeter of a pickup truck's cargo bed. In another non-limiting example, the additional telescopic interdictory beam sensors are positioned to provide full coverage of the vehicle 12, thereby allowing any object protruding above the roof 36 of the vehicle 12 to be measured.

[0051] The display 22 is used to provide information (e.g., warnings) to occupants of the vehicle 12. Within the scope of the present disclosure, an occupant includes a driver and / or passengers of the vehicle 12. Figure 1 In the exemplary embodiment shown, the display 22 is a human-machine interface (HMI) that is located in the occupant's field of view and is capable of displaying text, graphics, and / or images. It should be understood that HMI display systems including LCD displays, LED displays, and the like are within the scope of the present disclosure. Further exemplary embodiments in which the display 22 is disposed in a rearview mirror are also within the scope of the present disclosure. In another exemplary embodiment, the display 22 includes a head-up display (HUD) configured to provide information to the occupant by projecting text, graphics, and / or images on the windshield of the vehicle 12. The text, graphics, and / or images are reflected by the windshield of the vehicle 12 and are visible to the occupant without removing the line of sight from the road in front of the vehicle 12. In another exemplary embodiment, the display 22 includes an augmented reality head-up display (AR-HUD). AR-HUD is a HUD that is configured to enhance the occupant's vision of the road in front of the vehicle 12 by overlaying text, graphics, and / or images on physical objects in the surrounding environment of the vehicle 12 within the occupant's field of view. In an exemplary embodiment, the occupant can interact with the display 22 through a human interface device (HID), which includes, for example, a touch screen, an electromechanical switch, a capacitive switch, a knob, etc. It should be understood that other systems for displaying information to the occupants of the vehicle 12 are also within the scope of the present disclosure. As described above, the display 22 is in electrical communication with the controller 14.

[0052] refer to Figure 3 , a flow chart of a method 100 for determining the vertical clearance height of a vehicle is shown. The method 100 begins at box 102 and proceeds to boxes 104, 106, and 108. At box 104, the controller 14 determines the height of the vehicle 12. In an exemplary embodiment, to determine the height of the vehicle 12, the controller 14 uses the display 22. In a non-limiting example, the controller 14 prompts an occupant of the vehicle 12 to provide the height of the vehicle 12. The occupant then interacts with the display 22 through a human interface device (HID), including, for example, a touch screen, an electromechanical switch, a capacitive switch, a knob, a voice recognition system, etc., to provide the height of the vehicle.

[0053] In another exemplary embodiment, the controller 14 determines the height of the vehicle 12 via a plurality of vertical height sensors 18. In a non-limiting example, as discussed above, the controller 14 measures a first vertical height measurement H1 via a first vertical height sensor 18a, a second vertical height measurement H2 via a second vertical height sensor 18b, a third vertical height measurement H3 via a third vertical height sensor 18c, and a fourth vertical height measurement H4 via a fourth vertical height sensor 18d. The height of the vehicle 12 is determined as the maximum of H1, H2, H3, and H4:

[0054] h v =max(H1,H2,H3,H4) (1)

[0055] where h v is the height of the vehicle 12. After frame 104, the method 100 proceeds to frame 110, which will be discussed in more detail below.

[0056] At frame 106, the controller 14 extends the first telescopic break beam sensor 20a and the second telescopic break beam sensor 20b. In a non-limiting example, the first telescopic break beam sensor 20a and the second telescopic break beam sensor 20b are extended by actuating the telescopic mount 42, as discussed above. In an exemplary embodiment, the first telescopic break beam sensor 20a and the second telescopic break beam sensor 20b are extended at least until a line of sight between the first telescopic break beam sensor 20a and the second telescopic break beam sensor 20b is not obstructed by the roof mounted accessory 40. In a non-limiting example, the line of sight is detected by the break beam element 44, as discussed above. After frame 106, the method 100 proceeds to frame 112.

[0057] At frame 112, the controller 14 retracts the first telescopic blocked beam sensor 20a and the second telescopic blocked beam sensor 20b until the line of sight is blocked by the roof mounted accessory 40. In a non-limiting example, the first telescopic blocked beam sensor 20a and the second telescopic blocked beam sensor 20b are retracted by actuating the telescopic mount 42, as discussed above. In a non-limiting example, the line of sight is detected by the blocked beam element 44, as discussed above. After frame 112, the method 100 proceeds to frame 114.

[0058] At frame 114, the controller 14 determines the height of the roof mounted accessory 40. In an exemplary embodiment, after completing frame 112, the height of the roof mounted accessory 40 is determined to be equal to the height B of the beam-blocking element 44 above the roof 36. In another exemplary embodiment, the controller 14 prompts an occupant of the vehicle 12 to provide the height of the roof mounted accessory 40. The occupant then interacts with the display 22 via a human interface device (HID), including, for example, a touch screen, an electromechanical switch, a capacitive switch, a knob, a voice recognition system, etc., to provide the height of the roof mounted accessory 40. After frame 114, the method 100 proceeds to frame 110.

[0059] At box 110, the controller 14 determines the minimum required vertical clearance height of the vehicle 12. In the exemplary embodiment, the minimum required vertical clearance height is defined by the following equation:

[0060] v req,min =h a +h v (2)

[0061] where v req,min is the minimum required vertical clearance, h a is the height of the roof mounted accessory 40 determined at block 114, and h v is the vehicle height determined at box 104 and is defined above in Equation 1. Following box 110, method 100 proceeds to box 116, which will be discussed in more detail below.

[0062] At block 108, the controller 14 measures the Euclidean distance d between the distance sensing element 30 and the first object 28a and / or the second object 28 through the first ranging sensor 16a and / or the second ranging sensor 16b. e , as discussed above. After frame 108 , the method 100 proceeds to frame 118 .

[0063] At block 118 , the controller 14 determines the Euclidean distance d measured at block 108 based at least in part on the Euclidean distance d measured at block 108 . e and the pitch angle of the distance sensing element 30 to determine the vertical clearance height c v In an exemplary embodiment, the vertical clearance height c is determined by the following equation: v :

[0064] c v =d e *sinθ p (3)

[0065] where c v is the vertical headroom, d e is the Euclidean distance, and θ pAfter frame 118 , the method 100 proceeds to frame 120 .

[0066] At block 120, the controller 14 determines whether the first ranging sensor 16a and / or the second ranging sensor 16b has rotated through the entire pitch angle range. If the first ranging sensor 16a and / or the second ranging sensor 16b has not rotated through the entire pitch angle range, the method 100 proceeds to block 122. If the first ranging sensor 16a and / or the second ranging sensor 16b has rotated through the entire pitch angle range, the method 100 proceeds to block 124, as will be discussed in more detail below.

[0067] At block 122 , the controller 14 rotates the distance sensing element 30 via the motor 32 to change the pitch angle θ of the distance sensing element 30 . p In an exemplary embodiment, the distance sensing element 30 is rotated in predetermined pitch angle steps (eg, five degrees). After block 122, the method 100 returns to block 108 to measure the Euclidean distance d e In other words, the method 100 repeatedly measures the Euclidean distance d e , determine the vertical clearance height c v , and rotate the distance sensing element to determine multiple pitch angles θ p Multiple vertical clearance heights c v , thereby allowing for a complete characterization of the position of the first object 28 a and / or the second object 28 b relative to the vehicle 12 .

[0068] At box 124, the controller 14 determines the maximum available vertical headroom. In the exemplary embodiment, the maximum available vertical headroom is determined by the following equation:

[0069] v avail,max =min(c v,1 ,c v,2 ,…,c v,n )+min(H1,H2,H3,H4) (4)

[0070] where v avail,max is the maximum available vertical clearance and min(c v,1 ,c v,2 ,…,v c,n ) is the minimum value of the plurality of vertical clearance heights determined at block 118. After block 124, method 100 proceeds to block 116.

[0071] At block 116, the controller 14 compares the maximum available vertical headroom determined at block 124 to the minimum required vertical headroom determined at block 110. If the maximum available vertical headroom is less than or equal to the minimum required vertical headroom, the method 100 proceeds to block 126. If the maximum available vertical headroom is greater than the minimum required vertical headroom, the method 100 enters a standby state at block 128.

[0072] At box 126, the controller 14 provides a warning notification to the occupants of the vehicle 12 through the display 22. In an exemplary embodiment, the warning notification includes a visual light notification, a graphic notification, a text notification, etc. provided to the occupants by the display 22. In another exemplary embodiment, the warning notification also includes further feedback to the occupants, including, for example, tactile feedback, auditory feedback, etc. In another exemplary embodiment, the controller 14 also prevents the vehicle 12 from colliding with the first object 28a and / or the second object 28b through an advanced driver assistance system (ADAS). In another exemplary embodiment, the controller 14 prevents the vehicle 12 from colliding with the first object 28a and / or the second object 28b through the automatic driving system of the vehicle 12. After box 126, the method 100 enters a standby state at box 128.

[0073] The system 10 and method 100 of the present disclosure provide several advantages. Through the first and second range sensors 16a, 16b, the system 10 can determine the clearance height of objects in front of and behind the vehicle 12, thereby allowing for opportunities to mitigate collisions. Adjusting the pitch angle of the distance sensing element 30 through the motor 32 allows for a comprehensive scan of the environment, thereby allowing for accurate determination of clearance height when the overhead environment geometry is complex. Through the plurality of vertical height sensors 18, the system 10 can determine the height of the vehicle 12, thereby accounting for height variations due to factors such as cargo loading, suspension adjustment, tire size, tire pressure, etc. Through the first and second telescopic interdiction beam sensors 20a, 20b, the system 10 can determine the height of a roof-mounted accessory 40 secured to the vehicle 12 and / or other cargo carried by the vehicle 12.

[0074] The description of the present disclosure is merely exemplary in nature, and variations that do not depart from the gist of the present disclosure are intended to be within the scope of the present disclosure. Such variations should not be regarded as departing from the spirit and scope of the present disclosure.

Claims

1. A system for determining the vertical clearance height of a vehicle, comprising: a first ranging sensor operable to measure distance relative to objects surrounding the vehicle; a display operable to provide information to an occupant of the vehicle; as well as a controller in electrical communication with the first ranging sensor and the display, wherein the controller is programmed to: determining a minimum required vertical clearance based at least in part on a height of the vehicle; Determining a maximum available vertical clearance height by means of the first ranging sensor; and In response to determining that the maximum available vertical headroom is less than or equal to the minimum required vertical headroom, a warning is provided to the occupant of the vehicle via the display.

2. The system according to claim 1, wherein: The display is further configured to receive input from the occupant of the vehicle, and wherein, to determine the minimum required vertical clearance based at least in part on the height of the vehicle, the controller is further programmed to: receiving, via the display, the height of the vehicle from the occupant of the vehicle; and The minimum required vertical clearance is determined based at least in part on the height of the vehicle.

3. The system of claim 1 further comprising at least one vertical height sensor in electrical communication with the controller, and wherein: To determine the minimum required vertical clearance based at least in part on the height of the vehicle, the controller is further programmed to: measuring at least one vertical height by the at least one vertical height sensor, wherein the at least one vertical height is the distance between a roof of the vehicle and the ground; and The minimum required vertical clearance is determined based at least in part on the at least one vertical height measurement.

4. The system according to claim 3, wherein: The at least one vertical height sensor further comprises a first vertical height sensor, a second vertical height sensor, a third vertical height sensor and a fourth vertical height sensor, and wherein, to determine the minimum required vertical clearance height, the controller is further programmed to: measuring a first vertical height by the first vertical height sensor, wherein the first vertical height is a distance between a first corner of the roof of the vehicle and the ground; measuring a second vertical height by the second vertical height sensor, wherein the second vertical height is a distance between a second corner of the roof of the vehicle and the ground; measuring a third vertical height by the third vertical height sensor, wherein the third vertical height is a distance between a third corner of the roof of the vehicle and the ground; measuring a fourth vertical height by the fourth vertical height sensor, wherein the fourth vertical height is a distance between a fourth corner of the roof of the vehicle and the ground; and The minimum required vertical clearance height is determined based at least in part on the measured first vertical height, the second vertical height, the third vertical height, and the fourth vertical height.

5. The system according to claim 4, wherein: The first ranging sensor further comprises a distance sensing element and a motor operable to rotate the distance sensing element along a pitch axis, and wherein, in order to determine the maximum available vertical headroom by means of the first ranging sensor, the controller is further programmed to: measuring, by the distance sensing element, a Euclidean distance between the first ranging sensor and the object around the vehicle; determining a vertical clearance height based at least in part on the Euclidean distance and a pitch angle of the distance sensing element relative to the roof of the vehicle; Rotating the distance sensing element by the motor to change the pitch angle of the distance sensing element; Repeating measuring the Euclidean distance, determining the vertical clearance height, and rotating the distance sensing element to determine a plurality of vertical clearance heights; and The maximum available vertical headroom is determined as a sum of a minimum of the plurality of vertical headrooms and a minimum of the measured first vertical height, the second vertical height, the third vertical height, and the fourth vertical height.

6. The system according to claim 5, wherein: The first ranging sensor is further configured to measure a distance relative to an object in front of the vehicle, wherein the system further comprises a second ranging sensor in electrical communication with the controller, and wherein the second ranging sensor is configured to measure a distance relative to an object behind the vehicle.

7. The system according to claim 5, wherein: To determine the vertical clearance height, the controller is also programmed to: The vertical clearance height is determined by the following equation: c v =d e *sinθ p Among them, c v is the vertical headroom, d e is the Euclidean distance, and θ p is the pitch angle.

8. The system according to claim 4, wherein: To determine the minimum required vertical clearance, the controller is also programmed to: The minimum required vertical clearance height is determined to be equal to a maximum of the measured first vertical height, the second vertical height, the third vertical height, and the fourth vertical height.

9. The system according to claim 4, wherein: To determine the minimum required vertical clearance, the controller is also programmed to: determining a height of a roof-mounted accessory secured to the roof of the vehicle; and The minimum required vertical clearance height is determined to be equal to the sum of the height of the roof mounted accessory and the maximum of the measured first vertical height, the second vertical height, the third vertical height, and the fourth vertical height.

10. The system of claim 9, further comprising a telescopic blocked beam sensor system secured to the roof of the vehicle, the telescopic blocked beam sensor system comprising a first telescopic blocked beam sensor and a second telescopic blocked beam sensor, each in electrical communication with the controller, wherein The telescopic break beam sensor system is operable to detect an object blocking a line of sight between the first telescopic break beam sensor and the second telescopic break beam sensor, and wherein, to determine a height of the roof mounted accessory, the controller is further programmed to: Extending the first telescopic interdiction beam sensor and the second telescopic interdiction beam sensor until the line of sight between the first telescopic interdiction beam sensor and the second telescopic interdiction beam sensor is not blocked; retracting the first telescopic break-beam sensor and the second telescopic break-beam sensor until the line of sight between the first telescopic break-beam sensor and the second telescopic break-beam sensor is blocked by the roof-mounted accessory; and After retracting the first telescopic break beam sensor and the second telescopic break beam sensor until the line of sight between the first telescopic break beam sensor and the second telescopic break beam sensor is blocked by the roof-mounted accessory, determining that the height of the roof-mounted accessory is equal to the height of the first telescopic break beam sensor and the second telescopic break beam sensor.

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