System and method for notifying passengers of nearby objects

Abstract

A computer-implemented method, when executed by data processing hardware, causes the data processing hardware to obtain sensor data from a vehicle sensor system of a vehicle, determine, based on the sensor data, whether an object is approaching a rear end of the vehicle, determine, based on the sensor data, whether the vehicle is in a stationary state, and if the object is detected and the vehicle is in a stationary state, issuing a haptic alert through an audio system.

Description

Technical Field

[0001] The information provided in this section is intended to generally present the context of the disclosure. To the extent described in this section, the works of the presently named inventors, and any aspects of the description that may not qualify as prior art at the time of filing, are neither explicitly nor implicitly admitted to be prior art to the present disclosure.

[0002] The present disclosure generally relates to a system and method for providing passenger exit assistance to a vehicle, and more particularly to a system and method for providing passenger exit assistance to a vehicle via an audio system. Background Art

[0003] Typically, a vehicle may be equipped with a passenger assistance system for identifying nearby vehicles or pedestrians and notifying one or more passengers of the presence of such vehicles or pedestrians. For example, some passenger assistance systems may provide visual or audible alerts to notify passengers of nearby vehicles or pedestrians while the vehicle is in motion and / or when the vehicle is stationary (i.e., in parking mode). It may be desirable to use one or more of the vehicle's existing systems to identify nearby vehicles or pedestrians and notify passengers in another manner (i.e., without having to install additional hardware). Summary of the Invention

[0004] One aspect of the present disclosure provides a computer-implemented method that, when executed by data processing hardware, causes the data processing hardware to perform operations including: acquiring sensor data from a vehicle sensor system of a vehicle; determining whether an object is approaching a rear end of the vehicle based on the sensor data; determining whether the vehicle is stationary based on the sensor data; and, if the object is detected and the vehicle is stationary, issuing a haptic alert via an audio system.

[0005] Implementations of the present disclosure may include one or more of the following optional features.For example, obtaining sensor data from a vehicle sensor system may further include obtaining data from one or more camera sensors of an external sensor subsystem.

[0006] In at least one example, acquiring sensor data from the vehicle sensor system may further include acquiring data from one or more radar sensors of an external sensor subsystem.

[0007] According to another example, acquiring sensor data from the vehicle sensor system may further include acquiring data from one or more wheel speed sensors of the external sensor subsystem.Determining whether the vehicle is stationary may also include determining whether the one or more wheel speed sensors indicate that the vehicle is idling.

[0008] According to at least one aspect, determining whether the vehicle is at rest may further include determining whether an engine control module indicates that the vehicle is in a park mode.

[0009] According to another aspect, issuing a haptic alert via an audio system provides a haptic effect to one or more occupants of the vehicle.

[0010] According to one example, emitting the haptic alert through the audio system may further include emitting a sound at a frequency greater than 5 Hz and less than 20 Hz from one or more speakers in communication with the audio system.

[0011] According to another example, issuing the haptic alert through the audio system may further include selectively issuing the haptic alert through a driver-side or passenger-side speaker in communication with the audio system depending on which side of the vehicle the object is detected.

[0012] According to at least one aspect, the method may further include providing a visual alert using an interior lighting system.

[0013] Another aspect of the present disclosure provides a vehicle management system comprising a computing system including data processing hardware and memory hardware in communication with the data processing hardware. The vehicle management system further comprises a vehicle sensor system in communication with the computing system, a body control module in communication with the computing system, and an audio system in communication with the computing system. The memory hardware stores instructions that, when executed on the data processing hardware, cause the data processing hardware to perform operations including obtaining sensor data from the vehicle sensor system, determining whether an object is approaching the rear end of the vehicle based on the sensor data, determining whether the vehicle is stationary based on the sensor data, and, if an object is detected and the vehicle is stationary, issuing a tactile alert via the audio system.

[0014] Implementations of the present disclosure may include one or more of the following optional features.For example, obtaining sensor data from a vehicle sensor system may further include obtaining data from one or more camera sensors of an external sensor subsystem.

[0015] According to at least one example, acquiring sensor data from the vehicle sensor system may also include acquiring data from one or more radar sensors of an external sensor subsystem.

[0016] According to another example, acquiring sensor data from the vehicle sensor system may further include acquiring data from one or more wheel speed sensors of the external sensor subsystem.Determining whether the vehicle is stationary may also include determining whether the one or more wheel speed sensors indicate that the vehicle is idling.

[0017] According to at least one aspect, determining whether the vehicle is at rest may further include determining whether an engine control module indicates that the vehicle is in a park mode.

[0018] According to another aspect, issuing a haptic alert via an audio system may provide a haptic effect to one or more occupants of the vehicle.

[0019] According to at least one example, emitting a haptic alert through the audio system may further include emitting a sound at a frequency greater than 5 Hz and less than 20 Hz from one or more speakers in communication with the audio system.

[0020] According to another example, issuing the haptic alert through the audio system may further include selectively issuing the haptic alert through a driver-side or passenger-side speaker in communication with the audio system depending on which side of the vehicle the object is detected.

[0021] According to at least one example, the vehicle management system further includes providing a visual alert using an interior lighting system. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings described herein are for illustrative purposes only of selected configurations and are not intended to limit the scope of the present disclosure.

[0023] Figure 1 is a schematic diagram of a vehicle environment including a vehicle management system according to the principles of the present disclosure;

[0024] Figure 2 yes Figure 1 a cross-sectional view of a vehicle showing a portion of the interior of the vehicle;

[0025] Figure 3 yes Figure 1 a rear perspective view of the vehicle showing both the left front passenger door and the left rear passenger door in an open position;

[0026] Figure 4 It is a diagram showing the principle of the present disclosure Figure 1 an enlarged schematic diagram of an example of a vehicle management system; and

[0027] Figure 5 It shows Figure 4 A flow chart of the operation of a vehicle management system.

[0028] Corresponding reference numerals indicate corresponding parts throughout the drawings. DETAILED DESCRIPTION

[0029] Example configurations will now be described more fully with reference to the accompanying drawings. Example configurations are provided so that this disclosure will be thorough and will fully convey the scope of the disclosure to those of ordinary skill in the art. Specific details, such as examples of specific components, devices, and methods, are set forth to provide a thorough understanding of the configurations of the present disclosure. It will be apparent to those of ordinary skill in the art that specific details need not be employed, that the example configurations may be embodied in many different forms, and that the specific details and example configurations should not be construed as limiting the scope of the present disclosure.

[0030] The terms used herein are only used to describe the purpose of specific exemplary configurations and are not intended to be limiting. As used herein, the singular articles "a", "an" and "said" may also include plural forms unless the context clearly indicates otherwise. The terms "comprise", "include", "include" and "have" are inclusive and therefore specify the presence of features, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components and / or groups thereof. The method steps, processes and operations described herein should not be interpreted as necessarily requiring them to be performed in the specific order discussed or illustrated, unless specifically identified as an execution order. Additional or alternative steps may be adopted.

[0031] When an element or layer is referred to as being "on," "engaged to," "connected to," "attached to," or "coupled to" another element or layer, it can be directly on, engaged, connected, attached, or coupled to the other element or layer, or intervening elements or layers may be present. Conversely, when an element is referred to as being "directly on," "directly engaged," "directly connected to," "directly attached to," or "directly coupled to" another element or layer, there may be no intervening elements or layers. Other words used to describe the relationship between elements should be interpreted in a similar manner (e.g., "between" versus "directly between," "adjacent" versus "directly adjacent," etc.). As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0032] The terms "first," "second," "third," etc. may be used herein to describe various elements, components, regions, layers, and / or sections. These elements, components, regions, layers, and / or sections should not be limited by these terms. These terms can only be used to distinguish one element, component, region, layer, or section from another region, layer, or section. Numeric terms such as "first," "second," and other numerical terms do not imply a sequence or order unless the context clearly indicates otherwise. Therefore, a first element, component, region, layer, or section discussed below may be referred to as a second element, component, region, layer, or section without departing from the teachings of the example configurations.

[0033] In this application, including the definitions below, the term "module" may be replaced with the term "circuit". The term "module" may refer to, be part of, or include an application-specific integrated circuit (ASIC); a digital, analog, or mixed analog / digital discrete circuit; a digital, analog, or mixed analog / digital integrated circuit; a combinational logic circuit; a field programmable gate array (FPGA); a processor (shared, dedicated, or group) that executes code; a memory (shared, dedicated, or group) that stores code executed by the processor; other suitable hardware components that provide the functionality described; or a combination of some or all of the above, such as in a system on a chip.

[0034] The term "code" as used above may include software, firmware and / or microcode, and may refer to programs, routines, functions, classes and / or objects. The term "shared processor" includes a single processor that executes some or all code from multiple modules. The term "group processor" includes a processor that, in conjunction with other processors, executes some or all code from one or more modules. The term "shared memory" includes a single memory that stores some or all code from multiple modules. The term "group memory" includes a memory that, in conjunction with other memories, stores some or all code from one or more modules. The term "memory" may be a subset of the term "computer-readable medium". The term "computer-readable medium" does not include transient electrical and electromagnetic signals that propagate through the medium and, therefore, may be considered to be tangible and non-transient memory. Non-limiting examples of non-transient memory include tangible computer-readable media, including non-volatile memory, magnetic memory, and optical memory.

[0035] The apparatus and methods described herein may be implemented in part or in whole by one or more computer programs executed by one or more processors. The computer programs include processor-executable instructions stored on at least one non-transitory tangible computer-readable medium. The computer programs may also include and / or rely on stored data.

[0036] A software application (i.e., a software resource) may refer to computer software that enables a computing device to perform tasks. In some examples, a software application may be referred to as an "application," "application," or "program." Example applications include, but are not limited to, system diagnostic applications, system management applications, system maintenance applications, word processing applications, spreadsheet applications, messaging applications, media streaming applications, social networking applications, and gaming applications.

[0037] Non-transitory memory can be a physical device used to temporarily or permanently store programs (e.g., instruction sequences) or data (e.g., program state information) for use by a computing device. Non-transitory memory can be volatile and / or non-volatile addressable semiconductor memory. Examples of non-volatile memory include, but are not limited to, flash memory and read-only memory (ROM) / programmable read-only memory (PROM) / erasable programmable read-only memory (EPROM) / electronically erasable programmable read-only memory (EEPROM) (e.g., commonly used for firmware, such as bootloaders). Examples of volatile memory include, but are not limited to, random access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), phase change memory (PCM), and disk or tape.

[0038] These computer programs (also referred to as programs, software, software applications, or code) include machine instructions for a programmable processor and may be implemented in high-level procedural and / or object-oriented programming languages ​​and / or assembly language / machine language. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, non-transitory computer-readable medium, apparatus, and / or device (e.g., disk, optical disk, memory, programmable logic device (PLD)) for providing machine instructions and / or data to a programmable processor, including machine-readable media that receive machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal used to provide machine instructions and / or data to a programmable processor.

[0039] Various implementations of the systems and techniques described herein can be implemented in digital electronic and / or optical circuitry, integrated circuits, specially designed ASICs (application-specific integrated circuits), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementations in one or more computer programs executable and / or interpretable on a programmable system that includes at least one programmable processor, which can be special-purpose or general-purpose, coupled to receive data and instructions from a storage system, at least one input device, and at least one output device, and to send data and instructions to the storage system, at least one input device, and at least one output device.

[0040] The processes and logic flows described in this specification can be performed by one or more programmable processors (also known as data processing hardware) that execute one or more computer programs to perform functions by operating on input data and generating output. Processing and logic flows can also be performed by dedicated logic circuits, such as FPGAs (field programmable gate arrays) or ASICs (application-specific integrated circuits). For example, processors suitable for executing computer programs include general-purpose and special-purpose microprocessors, as well as any one or more processors of any type of digital computer. Typically, a processor will receive instructions and data from a read-only memory or a random access memory, or both. The basic elements of a computer are a processor for executing instructions and one or more memory devices for storing instructions and data. Typically, a computer will also include one or more mass storage devices for storing data, or be operably coupled to receive data from or transfer data to one or more mass storage devices, or both, such as magnetic, magneto-optical disks, or optical disks. However, a computer need not have such devices. Computer-readable media suitable for storing computer program instructions and data include all forms of nonvolatile memory, media, and storage devices, including, for example, semiconductor memory devices such as EPROM, EEPROM, and flash memory devices; magnetic disks, such as internal hard disks or removable disks; magneto-optical disks; and CD ROM and DVD-ROM disks. The processor and memory may be supplemented by, or incorporated in, special purpose logic circuitry.

[0041] To provide for interaction with a user, one or more aspects of the present disclosure may be implemented on a computer having a display device for displaying information to the user, such as a CRT (cathode ray tube), an LCD (liquid crystal display) monitor, or a touch screen, and optionally a keyboard and a pointing device, such as a mouse or trackball, through which the user can provide input to the computer. Other types of devices may also be used to provide for interaction with the user; for example, feedback provided to the user may be any form of sensory feedback, such as visual feedback, auditory feedback, or tactile feedback; and input from the user may be received in any form, including sound, voice, or tactile input. In addition, a computer may interact with a user by sending documents to and receiving documents from a device used by the user; for example, sending a web page to a web browser on a user's client device in response to a request received from the web browser.

[0042] Reference Figure 1An exemplary vehicle operating environment 10 is provided to illustrate the principles of the present disclosure. The vehicle operating environment 10 includes a vehicle 100 and a vehicle service center 20. For ease of illustration, the vehicle operating environment 10 is shown as including a single vehicle service center 20. However, in other examples, the vehicle operating environment 10 may include multiple vehicle service centers 20 communicating via a network 30 (e.g., the Internet, a cellular network).

[0043] Reference Figure 2 , a vehicle 100 may have a body 102 having a vehicle interior 104 and a vehicle exterior 106. The body 102 has a first or front end 108 spaced fore-aft from a second or rear end 110 relative to a longitudinal axis 112. The vehicle 100 has a first or front passenger compartment 114 proximate the front end 108 and a second or rear passenger compartment 116 spaced fore-aft from the front passenger compartment 114 toward the rear end 110. In this example, the front passenger compartment 114 and the rear passenger compartment 116 each have a first or driver's side 118 and a second or passenger's side 120 spaced across the vehicle from the driver's side 118 relative to a transverse axis 122. The transverse axis 122 is perpendicular to the longitudinal axis 112. The driver's side and the passenger's side 118, 120 may be located on different sides (i.e., left or right) depending on the region of the world for which the vehicle 100 is manufactured. For purposes of this disclosure, the driver's side 118 is on the left side of the vehicle 100 and the passenger's side 120 is on the right side of the vehicle 100 relative to the transverse axis 122. Note that this disclosure is equally applicable to vehicles having the driver's side on the right side and the passenger's side on the left side.

[0044] Continue to refer Figure 2 , one or more closures (e.g., doors, tailgates, etc.) can be connected to the body 102 of the vehicle 100. For example, a left front passenger door 124 and a right front passenger door 126 can be connected to the body 102 to enclose the front passenger compartment 114. Similarly, a left rear passenger door 128 and a right rear passenger door 130 can be connected to the body 102 to enclose the rear passenger compartment 116. The front passenger doors 124, 126 and the rear passenger doors 128, 130 can each have an inner door trim 132, which can include one or more door handles 134 ( Figure 3 )、Door lock 136( Figure 3 ) and one or more speakers. Figure 2 and Figure 3As shown, the one or more speakers may include front passenger compartment speakers 138, such as a left front speaker 138a disposed in the inner door trim 132 of the left front passenger compartment door 124 and a right front speaker 138b disposed in the inner door trim 132 of the right front passenger compartment door 126. Additionally or alternatively, the one or more speakers may include rear passenger compartment speakers 140, such as a left rear speaker 140a disposed in the inner door trim 132 of the left rear passenger compartment door 128 and a right rear speaker 140b disposed in the inner door trim 132 of the right rear passenger compartment door 130.

[0045] The front passenger compartment 114 may have one or more front seats 142, such as a first or left front seat 142a and a second or right front seat 142b. The left front seat 142a may be positioned adjacent to the left front speaker 138a, and the right front seat 142b may be positioned adjacent to the right front speaker 138b. The rear passenger compartment 116 may have one or more rear seats 144, such as a third or left rear seat 144a positioned in front of and behind the left front seat 142a and a fourth or right rear seat 144b positioned in front of and behind the right front seat 142b. The left rear seat 144a may be positioned adjacent to the left rear speaker 140a, and the right rear seat 144b may be positioned adjacent to the right rear speaker 140b. Additional speakers may also be positioned throughout the vehicle 100.

[0046] Continue to refer Figure 2 , a shifter 146 may be disposed at the intersection of the vehicle between the left front seat 142a and the right front seat 142b so that an operator of the vehicle 100 can change the gear state 147 of the vehicle 100 (i.e., park, reverse, neutral, drive, low speed).

[0047] Reference again Figure 3 The vehicle interior 104 can include interior lighting 148 disposed on a roof panel 149 above the front and rear seats 142, 144. In at least one example, the interior lighting 148 is disposed within the vehicle interior 104 such that one or more passengers can perceive light when the interior lighting 148 is illuminated.

[0048] The vehicle 100 may include one or more sensors 150 (e.g., cameras, radars, wheel speed sensors, etc.), such as Figure 1As shown, they are disposed on or within the vehicle body 102. For example, a first or front sensor 150a can be disposed on the front end 108 (e.g., on the grille of the vehicle), a second or rear sensor 150b can be disposed on the rear end 110 (e.g., on the tailgate and / or rear bumper of the vehicle 100), a third or left sensor 150c can be disposed on the driver's side 118 (e.g., on the driver's side rearview mirror), and a fourth or right sensor 150d can be disposed on the passenger side 120 (e.g., on the passenger side rearview mirror). One or more of the sensors 150, 150a-150d can be configured to detect objects approaching the vehicle 100. More specifically, for example, the rear sensor 150b, the left sensor 150c, and the right sensor 150d can be disposed and configured to detect objects approaching the rear end 110 of the vehicle 100. For example, if a second vehicle is traveling in a lane adjacent to the location of the vehicle 100 and is approaching the rear end 110 of the vehicle 100, the rear sensor 150b, the left sensor 150c, and / or the right sensor 150d may detect the second vehicle. Additional sensors (e.g., wheel speed sensors) may be disposed in or on the vehicle 100 so that the wheel speed of the vehicle 100 may also be determined (i.e., configured to determine whether the vehicle 100 is stationary).

[0049] Reference Figure 1 and 3 The vehicle 100 may be equipped with a vehicle management system 200 (e.g., a telematics unit). A network connection interface 202 may be communicatively coupled to the vehicle management system 200. Some examples of the network connection interface 202 may include a twisted pair / fiber optic Ethernet switch, an internal / external parallel communication bus, a local area network (LAN) interface, a controller area network (CAN), a media oriented systems transport (MOST), a local interconnect network (LIN) interface, and the like. Other communication interfaces may also include those compliant with ISO, SAE, and IEEE standards and specifications. The network connection interface 202 enables the components of the vehicle management system 200 to send and receive signals to and from each other, and to send and receive signals to and from various systems and subsystems within or "resident" on the vehicle body 102, as well as external to or "remote" the vehicle body 102. The vehicle management system 200 may receive and / or send data to / from one or more electronic control units (ECUs), such as a sensor interface module 210, an engine control module 220, and / or a body control module 230. The vehicle management system 200 may also communicate with additional ECUs, such as a powertrain control module (PCM), a transmission control module, a brake system control module (BSCM), a climate control module (CCM), and the like.

[0050] The vehicle management system also includes a sensor system 240, which can communicate with the network connection interface 202 directly or via the sensor interface module 210, such as Figure 3 As shown. When the vehicle 100 is operating relative to the environment 10 or is stationary within the environment 10, the sensor system 240 includes various sensor subsystems 242, 242a, 242b, 242c, which are configured to collect sensor data related to characteristics of the environment 10 and / or the state of the vehicle 100. For example, the sensor system 240 may include a vehicle external sensor subsystem 242a, which is configured to measure or obtain external environmental data 243a, such as surrounding objects (e.g., vehicles, bicycles, pedestrians, etc.). According to one aspect of the present disclosure, one or more sensors 150, 150a-150d are coupled to the external sensor subsystem 242a or otherwise communicate with the external sensor subsystem 242a. In addition, the sensor system 240 also includes an internal sensor subsystem 242b configured to measure or obtain internal environmental data 243b (e.g., vehicle occupancy) and / or a vehicle state sensor subsystem 242c configured to measure or obtain vehicle operating data 243c (e.g., vehicle position and operating parameters).

[0051] Continue to refer Figure 3 , the audio system 250 is operatively connected to the network connection interface 202 and the audio bus 252 to receive analog information via one or more speaker assemblies (discussed in more detail below) and present it as sound. The network connection interface 202 and the audio bus 252 are operatively coupled to a computing system 260, such as an onboard computing device that provides several functions, both alone and through its communication with other networked devices. For example, the computing system 260 can communicate with a remote or off-board cloud computing system 60 ( Figure 1 ) wireless communications (e.g., via cellular towers, base stations, and / or mobile switching centers (MSCs), etc.). The computing system 260 is generally composed of data processing hardware 262, each of which may be embodied as a discrete microprocessor, an application-specific integrated circuit (ASIC), or a dedicated control module. The vehicle 100 may provide centralized vehicle control via a central processing unit (CPU) 264 operatively coupled to memory hardware 266 and a real-time clock (RTC), each of which may take the form of a CD-ROM, a magnetic disk, an IC device, a semiconductor memory (e.g., various types of RAM or ROM), etc.

[0052] CPU 264 can receive data from one or more sensing devices that utilize, for example, image detection, radar, laser, ultrasonic, optical, infrared, or other suitable technologies for object detection. According to this illustrative configuration, the one or more sensors 150 of vehicle 100 can be equipped with one or more digital cameras, one or more distance sensors, one or more vehicle speed sensors, one or more vehicle dynamics sensors, and any necessary filtering, classification, fusion, and analysis hardware and software for processing the raw sensor data. The digital camera can utilize a charge-coupled device (CCD) sensor or other suitable optical sensor to generate an image indicative of the field of view of vehicle 100 and can be configured for continuous image generation (e.g., generating at least approximately 35 images per second). The distance sensor can emit and detect reflected radio waves, electromagnetic waves, or light-based waves (e.g., radar, electromagnetic induction, light detection and ranging (LIDAR)), etc.) to detect, for example, the presence, geometry, and / or proximity of an object. The vehicle wheel speed sensor can include, for example, a wheel speed sensor that measures wheel speed, which is then used to determine the real-time vehicle speed. The CPU 264 may utilize data received by the CPU 264 from one or more sensors 150 to identify objects within a detectable range of the vehicle 100 .

[0053] These sensors are distributed throughout vehicle 100 and positioned in operational, unobstructed locations relative to the corresponding views from the front, rear, or lateral sides of vehicle 100. Each sensor generates an electrical signal indicative of a characteristic or state of a target object, typically as an estimate with a corresponding standard deviation. While the operational characteristics of these sensors are generally complementary, some sensors are more reliable at estimating certain parameters than others. Most sensors have different operating ranges and coverage areas and are capable of detecting different parameters within their operating ranges. For example, radar-based sensors can estimate the range, range rate, and position of an object but may not be as robust when estimating the range of a detected object. On the other hand, cameras with optical processing capabilities may be more robust at estimating the shape and position of an object but may be less efficient at estimating its range and range rate. Scanning laser radar (LIDAR) sensors may be efficient and accurate at estimating range and position but may not accurately estimate range rate, and therefore may not be as accurate at acquiring / identifying new objects. In contrast, ultrasonic sensors can estimate range but generally cannot accurately estimate range rate and position. Furthermore, the performance of many sensor technologies can be affected by varying environmental conditions. Therefore, sensors often exhibit parameter variations, and their operational overlap provides opportunities for sensory fusion.

[0054] According to another aspect of the present disclosure, the front speakers 138 and the rear speakers 140 can be coupled to or otherwise communicate with the computer system 260 and communicate with the audio system 250 via the audio bus 252. Additionally or alternatively, the interior lighting 148 can be coupled to or otherwise communicate with the computer system 260 so that the interior lighting 148 can be illuminated, for example, when one or more parameters are met. Furthermore, the shifter 146 can be coupled to the computer system 260 and / or the engine control module 220 so that the gear state 147 of the vehicle 100 (i.e., park, reverse, neutral, drive, low speed) can be controlled by the operator of the vehicle 100.

[0055] According to the principles of the present disclosure, a method 300 is provided for notifying one or more passengers that one or more objects are in the vicinity of a vehicle 100. More specifically, the method 300 can be configured such that when the vehicle 100 is stationary, the passengers are notified when an object approaches the rear end 110 of the vehicle 100, which may be desirable to alert one or more passengers so that the passengers can exit the vehicle 100 once the object has passed the vehicle 100. Figure 5 Method 300 is discussed in more detail.

[0056] At 302 , the method 300 is initiated. In practical applications, at 302 , the method 300 may be initiated when the vehicle operator starts the vehicle 100 .

[0057] At 304, the sensor system 240 begins collecting sensor data 243 from one or more of the external sensor subsystem 242a, the internal sensor subsystem 242b, and / or the vehicle state sensor subsystem 242c. According to at least one aspect, the one or more sensors 150 of the external sensor subsystem 242a can obtain data regarding the surrounding environment and one or more operating parameters of the vehicle 100.

[0058] At 306, the sensor data 243 may be used by at least the computer system 260 to determine whether an object (e.g., a pedestrian, a vehicle, etc.) is approaching the vehicle 100. More specifically, whether the object is approaching the rear end 110 of the vehicle 100. If the computer system 260 determines that an object is approaching the vehicle 100, the method 300 may proceed to 308. If the computer system determines that no object is approaching the vehicle 100, the method 300 may return to 304, where the collection of sensor data 243 may continue.

[0059] At 308, if the vehicle 100 is at rest, the method 300 may proceed to 310. According to one aspect, if the wheel speed is zero (0) miles per hour (MPH) or zero (0) kilometers per hour (KPH), the vehicle 100 is at rest (i.e., the vehicle 100 is idling). This may be determined, for example, by evaluating data collected by one or more sensors 150 (e.g., wheel speed sensors) of the external sensor subsystem 242a. Additionally or alternatively, the vehicle 100 may be considered at rest if the gear state 147 indicates that the vehicle 100 is in the park position. In other words, if the shifter 146 is in the park position, the vehicle 100 is considered at rest. For example, the engine control module 220 may continuously transmit the gear state 147 of the vehicle 100 to the computer system 260. If the vehicle 100 is not at rest, the method 300 may return to 306 to determine whether an object is approaching the vehicle 100.

[0060] At 310, audio system 250 can control one or more of the front and / or rear speakers 138, 140 and selectively emit a haptic alert throughout vehicle interior 104. The haptic alert can be a low-frequency noise emitted from one or more speakers 138, 140 that provides a tactile effect that can be felt by one or more occupants of vehicle 100. The haptic alert may be intended to notify one or more occupants that an object is approaching vehicle 100. In at least one example, the haptic alert may be desirable so that one or more occupants avoid opening one of passenger doors 124, 126, 128, 130 when an object is approaching vehicle 100. In another aspect, no additional hardware is required to provide the haptic alert; instead, the haptic alert can be provided using an existing audio system. The frequency of the haptic alert can be greater than 5 Hz and less than 20 Hz, for example, between 10 Hz and 15 Hz. In other words, the frequency of the haptic alert can be a frequency that provides a haptic effect but is not audible to one or more occupants. According to one aspect, depending on which side of the vehicle 100 (i.e., the driver's side 118 or the passenger's side 120) one or more objects are approaching the vehicle 100, the audio system 250 can be configured such that a tactile alert is emitted, for example, only through the left front and left rear speakers 138a, 140a (i.e., the driver's side speakers) or only through the right front and right rear speakers 138b, 140b (i.e., the passenger's side speakers).

[0061] Additionally or alternatively, the body control module 230 can be configured to cause the interior lighting 148 to illuminate (e.g., flash or strobe) to provide a visual alert when an object approaches the vehicle 100 while the vehicle 100 is stationary. Thus, according to at least one configuration, one or more passengers can experience one or both of a haptic alert (i.e., a haptic effect) and a visual alert when an object approaches the vehicle 100 while the vehicle 100 is stationary.

[0062] Additionally or alternatively, the body control module 230 can be configured to lock one or more of the door locks 136 of the passenger doors 124, 126, 128, 130 when an object approaches the vehicle 100 while the vehicle 100 is stationary. Thus, according to at least one configuration, if one or more of the passenger doors 124, 126, 128, 130 are automatically locked when an object approaches the vehicle 100, a haptic alert (i.e., a haptic effect) may be desirable to notify one or more passengers that they are temporarily prevented from exiting the vehicle 100.

[0063] At 312 , method 300 ends.

[0064] Providing a tactile alert via the left front and left rear speakers 138a, 140a or via the right front and right rear speakers 138b, 140b provides notifications about the surroundings of the vehicle 100 to one or more passengers exiting the vehicle 100. Thus, providing a tactile alert via the left front and left rear speakers 138a, 140a or via the right front and right rear speakers 138b, 140b can help the exiting passengers avoid hazards, such as an animal, an approaching cyclist, or another object detected and / or sensed by the sensor system 240. The tactile alert can be used by one or more occupants to time their exit from the vehicle 100 with the time that the actual or perceived hazard has passed (i.e., when the cyclist or another vehicle has sufficiently passed the vehicle 100 to allow safe exit from the vehicle 100).

[0065] Many implementations have been described. However, it will be appreciated that various modifications can be made without departing from the spirit and scope of the present disclosure. Accordingly, other implementations are within the scope of the following claims.

[0066] The foregoing description has been provided for purposes of illustration and description. It is not intended to be exhaustive or to limit the disclosure. Individual elements or features of a particular configuration are generally not limited to that particular configuration, but, where applicable, are interchangeable and can be used in a selected configuration even if not specifically shown or described. The same may be varied in many ways. Such variations are not to be regarded as a departure from the disclosure, and all such modifications are intended to be included within the scope of the disclosure.

Claims

1. A computer-implemented method that, when executed by data processing hardware, causes the data processing hardware to perform operations comprising: acquiring sensor data from a vehicle sensor system of the vehicle; determining whether an object is approaching a rear end of the vehicle based on the sensor data; determining whether the vehicle is stationary based on the sensor data; and If an object is detected and the vehicle is stationary, a haptic alert sounds through the audio system. 2 . The method of claim 1 , wherein obtaining sensor data from the vehicle sensor system further comprises obtaining data from one or more camera sensors of an external sensor subsystem. 3 . The method of claim 1 , wherein obtaining sensor data from the vehicle sensor system further comprises obtaining data from one or more radar sensors of an external sensor subsystem. 4 . The method of claim 1 , wherein obtaining sensor data from the vehicle sensor system further comprises obtaining data from one or more wheel speed sensors of an external sensor subsystem. 5 . The method of claim 4 , wherein determining whether the vehicle is at rest further comprises determining whether the one or more wheel speed sensors indicate that the vehicle is idling. The method of claim 1 , wherein determining whether the vehicle is at rest further comprises determining whether an engine control module indicates that the vehicle is in park mode. 7 . The method of claim 1 , wherein issuing the haptic alert via the audio system provides a haptic effect to one or more occupants of the vehicle. 8 . The method of claim 1 , wherein emitting the tactile alert through the audio system further comprises emitting a sound at a frequency greater than 5 Hz and less than 20 Hz from one or more speakers in communication with the audio system.

9. The method of claim 1, wherein issuing a haptic alert through the audio system further comprises selectively issuing a haptic alert through a driver-side or passenger-side speaker in communication with the audio system, depending on which side of the vehicle the object is detected.

10. The method of claim 1, further comprising providing a visual alert using an interior lighting system.

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