Autonomous control for situations involving vehicle pedal misuse

Abstract

A method (200) for determining pedal misuse in a vehicle, the method (200) comprising the steps of: determining whether an accelerator pedal is applied above a threshold level (206); determining whether a brake pedal is applied below a second threshold level (208); determining whether an obstacle is in a path of the vehicle and within a threshold distance (210); determining whether a vehicle speed is below a threshold speed (204); and determining whether a gear shift has occurred within a threshold time period (202); wherein the method (200) further comprises the step of: a wrong pedal attenuation is switched on in response to a detected pedal misuse (212), wherein the step (212) of enabling the attenuation of the incorrect pedal in response to the determined pedal misapplication comprises a torque request to the vehicle is not used.

Description

TECHNICAL FIELD

[0001] The present invention relates generally to vehicle systems and, more particularly, to a method and system for mitigating pedal misapplication in a vehicle. BACKGROUND OF THE INVENTION

[0002] The driver may inadvertently apply the accelerator pedal while intending to apply the brake pedal. This "pedal confusion" and the resulting pedal misapplication can lead to very negative events that compromise the safety of both the driver and others.

[0003] This problem can be further exacerbated by the driver continuing to believe they are applying the correct pedal. For example, the driver may continue to believe they are applying the brakes while actually continuing to apply the accelerator. This can cause the driver to panic, sometimes resulting in the driver fully depressing the wrong pedal. Such an action can culminate in a serious accident with significant property loss and a high probability of injury.

[0004] DE 10 2005 033 087 A1 discloses a method and a device for avoiding rear-end collisions, in which the distance and / or speed to a vehicle in front is determined and, if there is a risk of collision, the drive train and / or brakes of the vehicle are intervened in and / or the driver is informed of the risk of collision.

[0005] JP 2003-56371 A discloses a method for detecting pedal misapplication in a vehicle. After shifting a gearshift to reverse, a pedal misapplication condition is detected when a brake pedal is not depressed, but an accelerator pedal is depressed at a magnitude and speed exceeding respective thresholds. The opening of a throttle valve is then limited.

[0006] It is therefore desirable to provide a method and apparatus for detecting probable pedal misuse events, as well as a method and apparatus for mitigating the potential effects of such pedal misuse. Furthermore, other desirable features and functions of the present invention will become apparent from the following detailed description of the invention and the appended claims, taken in conjunction with the accompanying drawings and this background of the invention. SUMMARY OF THE INVENTION

[0007] A method is provided for detecting a probable pedal misapplication event and mitigating the effects of pedal misapplication according to claim 1 and claim 3. In one embodiment, and by way of example only, the method comprises determining whether probable pedal misapplication has occurred by the steps of: determining whether a gear shift has occurred within a threshold time; determining whether a vehicle speed is below a threshold speed; determining whether the accelerator pedal is above a threshold application level; determining whether the brake pedal is below a threshold application level; and determining whether an obstacle is in the vehicle path and within a threshold distance. If these criteria are found, probable pedal misapplication is detected.If such probable pedal misuse is detected, the method may additionally include executing a wrong pedal mitigation process. The wrong pedal mitigation may include engaging autonomous braking, ignoring accelerator-based commands, and providing audible warnings to operators.

[0008] An apparatus is provided for detecting probable pedal misapplication and mitigating the effects of pedal misapplication. In one embodiment, and by way of example only, the apparatus includes a gear shift detector, a speed detector, an accelerator pedal detector, a brake pedal detector, an obstacle detector, and a processor. The gear shift detector is configured to enable determination of whether a gear shift has occurred within a threshold time. The speed detector is configured to enable determination of whether the speed of the vehicle is below a threshold speed. The accelerator pedal detector is configured to enable determination of whether the accelerator pedal is being applied above a threshold application level.The brake pedal detector is configured to enable the determination of whether the brake pedal is being applied below a threshold application level. The obstacle detector is configured to enable the determination of whether an obstacle is in the vehicle's path and within the threshold distance. These detectors are coupled to the processor, which is configured to detect probable pedal misapplications.

[0009] The apparatus may comprise a wrong pedal mitigation system according to claim 5, which is configured to reduce the likely adverse effects of pedal misapplication. The wrong pedal mitigation system may be configured to enable autonomous braking and disable accelerator-based commands in response to a detected likely pedal misapplication. DESCRIPTION OF THE DRAWINGS

[0010] The present invention will be described hereinafter in conjunction with the following drawing figures, in which like reference numerals designate like elements and Fig. 1 is a functional block diagram of a false pedal mitigation system according to one embodiment; and Fig. 2 is a flowchart illustrating a process for mitigating a false pedal according to one embodiment. DESCRIPTION OF AN EXEMPLARY EMBODIMENT

[0011] The following detailed description is merely exemplary in nature and is not intended to limit the invention or its application and uses. Furthermore, there is no intention to be bound by any expressed or implied theory presented in the preceding technical field, background, brief summary, or the following detailed description.

[0012] Fig. Figure 1 is a functional block diagram of a pedal misapplication detection system 100. The pedal misapplication detection system 100 generally monitors sensor data from various systems and devices and determines when a likely pedal misapplication has occurred. For example, when a driver intended to apply the brakes but instead applied the accelerator pedal, thus inadvertently causing vehicle movement. In such situations, the driver may continue to believe they are applying the brakes and may thus continue to inadvertently apply the accelerator pedal. This may be ongoing, sometimes resulting in the driver fully depressing the accelerator pedal. The consequence of such driver error can be a serious accident with significant property loss and a high probability of injury.

[0013] To determine when pedal misuse may occur, pedal misuse detection system 100 includes a gear shift detector 102, a speed detector 104, an accelerator pedal detector 106, a brake pedal detector 108, an obstacle detector 110, and a processor 112. Each of the various detectors is coupled to processor 112 and configured to provide data from its associated system thereto. The system may also include a separate memory 114 to store the programs and values used to implement the system.

[0014] The pedal misuse detection system 100 is preferably configured to be implemented as part of or in conjunction with the vehicle control system. Consequently, the various elements of the pedal misuse detection system 100 may serve as various control and monitoring devices for the vehicle. For example, the obstacle detector 110 may be implemented in conjunction with a larger obstacle detection and avoidance (ODA) system.

[0015] The gearshift detector 102 is coupled to a gearshift device and is configured to periodically detect values of the gearshift position and transmit these values to the processor 112.

[0016] In the same way, speed detector 104 is coupled to the vehicle speed sensors and is configured to detect vehicle speed and transmit these values to processor 112. Accelerator pedal detector 106 is coupled to an accelerator pedal module and is configured to periodically detect accelerator pedal position values and transmit these values to processor 112. Brake pedal detector 108 is coupled to a brake pedal module and is configured to periodically detect brake pedal position values and transmit these values to processor 112.

[0017] It should be appreciated that while each of these various elements functions in conjunction with the pedal misuse detection system 100, these elements may be implemented in conjunction with and / or as part of other systems and / or other devices in the vehicle.

[0018] The processor 112 receives data from the various detectors and determines whether a probable pedal misapplication is occurring. To accomplish this, the processor may perform a variety of calculations and comparisons. For example, it may perform calculations such as subtracting pedal position values from minimum values, comparing these values to various thresholds, calculating various time measurements, such as the amount of time that has elapsed since a gear shift occurred, among various other types of determinations, comparisons, and / or calculations. The processor 112 may also be configured to provide mitigation for a mispedal, such as by engaging autonomous braking, when one or more conditions are met based on these determinations, comparisons, and / or calculations.

[0019] The memory 114 is coupled to the processor 112. The memory 114 is configured to store various values, such as the various thresholds used by the system 100 in connection with the process 200, discussed below, during or between different iterations of the process 200.

[0020] The processor 112 is configured to detect likely pedal misapplication and mitigate the effects of the pedal misapplication. In one embodiment, the processor 112 is configured to determine, based on data from the gear shift detector 102, whether a gear shift has occurred within a threshold time. In the same way, the processor 112 is configured to determine, based on data from the speed detector 104, whether the speed of the vehicle is below a threshold speed. In the same way, the processor 112 is configured to determine, based on data from the accelerator pedal detector 106, whether the accelerator pedal is being applied just above a threshold application level.In the same way, processor 112 is configured to determine, based on data from brake pedal detector 108, whether the brake pedal is being applied just below a threshold application level. Finally, processor 112 is configured to determine, based on data from obstacle detector 110, whether an obstacle is in the vehicle's path and within the threshold distance. Additionally, the processor may be configured to enable autonomous braking and disable accelerator-based commands in response to a detected probable pedal misapplication.

[0021] In Fig.2 illustrates a method 200 for selectively applying mitigation to an incorrect pedal application. The method 200 generally determines whether pedal misapplication is likely to have occurred and enables mitigation if so determined. The method 200 is specifically adapted for accelerator pedal misapplication when brake pedal application was intended, although this is only an example implementation.

[0022] The first step 202 is to determine whether the driver has recently shifted the vehicle gear, e.g., within a threshold time period. Serious pedal misapplications typically occur shortly after a gear shift. This is typical because the confusion resulting from pedal misapplication is typically exacerbated if the driver makes an additional error in the shifting process. For example, if a driver performs a gear shift and accidentally shifts into a forward gear when intending to reverse, and vice versa. If such an erroneous gear shift is followed by pedal misapplication, the likelihood of a serious accident is substantially increased. Thus, step 202 determines whether a gear shift has recently occurred. If no gear shift has occurred, the method proceeds to step 216, and no action is taken.If the gear shift occurred within the threshold time period, the method proceeds to step 204.

[0023] The threshold used in this determination can be chosen based on a variety of factors. The higher the threshold, the greater the number of pedal misuse situations for which mitigation can be applied. As an example, the threshold time can be chosen to be in a range of 0.3 seconds to 2 seconds.

[0024] The next step 204 is to determine whether a vehicle speed is below a threshold speed. This step ensures that pedal misapplication mitigation is only activated at relatively low speeds where pedal misapplication is likely to occur and where the potential negative effects of mitigation are minimized. Accordingly, step 204 determines whether the vehicle speed is below a threshold speed. If the speed is above the threshold, the method proceeds to step 216 and no action is taken. If the vehicle speed is below the threshold, the method proceeds to step 206. As an example, the threshold speed may be set to a value between 4.8 and 8 km / h (3 and 5 MPH).

[0025] The next step 206 is to determine whether the accelerator pedal is being applied above a threshold application level. This step measures whether the driver is significantly depressing the accelerator pedal. In a typical pedal misapplication situation, the driver applies the accelerator pedal strongly, thinking they are applying the brake pedal. If the vehicle does not respond as expected, they may mistakenly apply the accelerator pedal more strongly. Thus, by measuring the level at which the accelerator pedal is applied, method 200 may identify pedal misapplication.

[0026] Accordingly, step 206 determines whether the accelerator pedal is above a threshold application level. If the pedal application is below the threshold, the method proceeds to step 216 and no action is taken. If the pedal application is above the threshold, the method proceeds to step 208. In one embodiment, the accelerator pedal is determined as a percentage, where zero percent corresponds to the driver not pressing the accelerator pedal at all and one hundred percent corresponds to the driver fully pressing the accelerator pedal. In this example, the application threshold may be set to 30-80% of full pedal application. However, it should be appreciated that other determinations of accelerator pedal position may be used in various embodiments.

[0027] The next step 208 is to determine whether or not the brake pedal is being applied by the driver. Again, in a typical pedal misapplication situation, the driver is firmly applying the accelerator pedal while thinking they are applying the brake pedal. Thus, step 208 determines whether the brake pedal is being applied. If the brake pedal is currently being applied by the driver, the method proceeds to step 216 and no action is taken. If the brake pedal is not being applied by the driver, the method proceeds to step 210.

[0028] The next step 210 is to determine whether an obstacle is in the vehicle's path at a distance less than a threshold level. The obstacle may be in front of the vehicle if it is moving forward or behind the vehicle if it is reversing. In either case, the obstacle detector determines whether an obstacle is in the vehicle's path at a distance less than a threshold level.

[0029] A wide variety of different sensors and sensing systems can be used to determine whether an object is in the vehicle's path. For example, the obstacle detector may be implemented in conjunction with a larger obstacle detection and avoidance (ODA) system. Such a system can detect objects by transmitting pulses (e.g., infrared, ultrasonic, radar, etc.) and receiving pulses reflected back from potential obstacles. Such an obstacle detector may include ultrasonic sensors, radar sensors, lidar sensors, vision sensors, or any combination of obstacle sensors. In each case, the obstacle detector detects objects in the vehicle's path and can provide a measurement of the distance to the detected object. This distance can then be compared to the threshold distance.

[0030] If there is no detected object within the threshold distance, the method proceeds to step 216 and no action is taken. If there is a detected object, the method proceeds to step 212 to enable false pedal mitigation.

[0031] At step 212, incorrect pedal mitigation is performed. A variety of different procedures may be used at this step to reduce and / or eliminate the potential for incorrect pedal application to cause damage.

[0032] In one embodiment, step 212 includes engaging an autonomous braking system. Such a system can automatically apply the brakes at calculated braking levels. Such a system can thus prevent the vehicle from moving into an object as a result of pedal misapplication.

[0033] In another embodiment, step 212 includes not using the torque request sent to the engine. This effectively interrupts the request for more power that would otherwise result from the application of the accelerator pedal. Consequently, this technique also prevents the vehicle from accelerating in response to the misapplied pedal and may thus prevent a collision with the obstacle in the vehicle's path.

[0034] The system and method thus provide the capability to monitor sensor data and determine when a likely pedal misuse has occurred. Furthermore, the system can provide mitigation for such detected pedal misuse.

[0035] Although at least one exemplary embodiment has been presented in the foregoing detailed description, it should be appreciated that a wide variety of variations exist. It should also be appreciated that the exemplary embodiment or exemplary embodiments are merely examples and are not intended to limit the scope, applicability, or configuration of the invention in any way. Rather, the foregoing detailed description will provide those skilled in the art with a convenient road map for implementing the exemplary embodiment or exemplary embodiments. It is to be understood that various changes may be made in the function and arrangement of elements without departing from the scope of the invention as disclosed in the appended claims and their legal equivalents.

Claims

[1] A method (200) for determining pedal misuse in a vehicle, the method (200) comprising the steps of: determining whether an accelerator pedal is applied above a threshold level (206); determining whether a brake pedal is applied below a second threshold level (208); determining whether an obstacle is in a path of the vehicle and within a threshold distance (210); determining whether a vehicle speed is below a threshold speed (204); and determining whether a gear shift has occurred within a threshold time period (202); wherein the method (200) further comprises the step of: a wrong pedal attenuation is switched on in response to a detected pedal misuse (212), wherein the step (212) of enabling the attenuation of the incorrect pedal in response to the determined pedal misapplication comprises a torque request to the vehicle is not used. [2] Method (200) according to claim 1, wherein the step of determining whether the obstacle is in the path of the vehicle and within the threshold distance (210) comprises: a sensor (110) is used which is selected from a group consisting of an ultrasonic sensor, a radar sensor, a lidar sensor and an image sensor. [3] A method (200) for selectively mitigating pedal misapplication in a vehicle, the method (200) comprising the steps of: A) determine whether pedal misuse is taking place by: determining whether a gear shift has occurred within a threshold time period (202); determining whether a vehicle speed is below a threshold speed (204); determining whether an accelerator pedal is applied at a level above a first threshold (206); determines whether a brake pedal is currently being applied; and determining whether an obstacle is in a path of the vehicle and within a threshold distance (210); B) applying (212) a wrong pedal mitigation when it is determined that pedal misapplication is occurring, wherein the step (212) of applying a wrong pedal mitigation when it is determined that pedal misapplication is occurring comprises: a torque request to the vehicle is not used. [4] Method (200) according to claim 3, wherein the step (210) of determining whether the obstacle is in the path of the vehicle and within the threshold distance comprises: an ultrasonic sensor is used. [5] A system (100) for selectively mitigating pedal misapplication in a vehicle, the system (100) comprising: an accelerator pedal detector (106) configured to detect a position of an accelerator pedal; a brake pedal detector (108) configured to detect a position of a brake pedal; an obstacle detector (110) configured to detect objects in a vehicle path; and a processor (112) coupled to the accelerator pedal detector (106), the brake pedal detector (108) and the obstacle detector (110), the processor (112) being configured to: A) to determine whether pedal misuse is taking place by: determining whether a gear shift has occurred within a threshold time period (202); determining whether the position of the accelerator pedal is above a first threshold value (206); determining whether the position of the brake pedal is below a second threshold value (208); and determining whether an obstacle is in a path of the vehicle and within a threshold distance (210); and B) apply a mitigation of a wrong pedal (212) if it is determined that a pedal misapplication is taking place; wherein the processor (112) is configured to apply (212) a wrong pedal mitigation when it is determined that a pedal misapplication is occurring by: a torque request to the vehicle is not used.

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