VEHICLE REVERSING ASSISTANCE SYSTEM

Abstract

A reversing assistance system for a vehicle (20), the system comprising: a sensor module (52) having reversing sensors (30A, 30B) that identify obstacles near a reversing path of the vehicle, the sensor module being configured to determine whether a field of view of the reversing sensors is limited; a notification module (62) configured to notify a driver of the vehicle that the field of view of the reversing sensors is limited; and a reversing control module (50) configured to limit a vehicle reversing speed, acceleration and / or jerk if the field of view of the reversing sensors is limited, characterized in that the reversing control module (50) is configured to automatically stop the vehicle (20) if the sensor module (52) determines that the field of view of the reversing sensors (30A, 30B) is no longer limited.

Description

Technical FieldThe present invention relates to a vehicle backup assist system.Prior ArtThis section provides background information regarding the invention that is not necessarily included in the prior art.Vehicle backup assist systems assist drivers in backing their vehicles to avoid, for example, driving obstacles or other objects. While current backup assist systems are suitable for their intended use, they are constantly being improved. In some cases, for example, backup sensors may be blocked or "shielded" such that the field of view of the backup sensors is reduced by objects on both sides of the vehicle, such as parked vehicles, fences, or walls. If the backup sensors are "shielded", they usually have a reduced (e.g., narrower) field of view (field of view), making it more difficult for the sensors to detect nearby objects. In other words, due to the reduced field of view, the range of the backup sensors may be limited, and thus the driver may not be aware of objects until they are closer to the vehicle, which may make it more difficult to avoid the objects. The invention provides a backup assist system that addresses this need of the prior art as well as numerous others.Furthermore, the document DE 10 2012 022 276 A1 discloses a method and a device for warning of cross traffic in parking-out situations, the document DE 10 2011 014 914 A1 discloses a method and a device for activating the flasher when detecting an approaching vehicle in a parking-out process, and the document EP 2 582 554 B1 discloses a method for supporting a driver of a motor vehicle.Summary of the InventionIt is an object of the invention to provide a backup assist system for a vehicle.According to a first aspect of the invention, there is provided a backup assist system for a vehicle according to claim 1. According to another aspect of the invention, there is provided a method of assisting a driver in operating a vehicle in reverse according to another independent claim. According to this configuration and method, it may be possible to minimize a possibility of contact between the vehicle and obstacles outside the field of view if the vehicle is operated in reverse.Further areas of applicability will become apparent from the description which follows. The description and specific examples in this summary are intended for purposes of illustration only and are not intended to limit the scope of the invention.Brief Description of the DrawingsThe above and other objects, features and advantages of the invention will become apparent from the following description with reference to the accompanying drawings. In the drawing:FIG. 1A shows a vehicle having a backup assist system according to the invention, the backup sensors of which are shielded by other parked vehicles;FIG. 1B shows the vehicle of FIG. 1A including the backup assist system of the present invention, which has been driven to a position where its backup sensors are no longer in a shielded state;FIG. 2 shows components of the backup assist system according to the invention; andFIG. 3 shows a method according to the invention for assisting a driver when a vehicle is operating in reverse gear.Corresponding reference numerals indicate corresponding constituent elements throughout the several views of the drawing.DESCRIPTION OF THE EMBODIMENTSExemplary embodiments will be described in detail below with reference to the accompanying drawings.Referring first to FIG. 1, a backup assist system 10 according to the present invention is included in an exemplary vehicle 20. The vehicle 20 is described and illustrated herein as an occupant vehicle. However, the backup assist system 10 may be used with any suitable vehicle, such as any suitable recreational vehicle, mass transfer vehicle, military vehicle, construction vehicle, watercraft, etc.The backup assist system 10 includes one or more backup sensors such as a backup sensor 30A and a backup sensor 30B. The backup sensors 30A and 30B may be disposed at any suitable location on the vehicle 20, and any suitable number of backup sensors 30A / 30B may be included. The backup sensors 30A and 30B may be any suitable sensors configured to detect objects that are proximate to or within a backup path of the vehicle 20. The backup sensors 30A and 30B may be, for example, ultrasonic sensors, LIDAR sensors, or radar sensors. The sensors 30A and 30B may also be backup cameras, or the vehicle may include one or more backup cameras. The backup cameras are configured to capture images of an area around the backup path of the vehicle 20, and display one or more images of the area to the driver as a reference for the driver if the vehicle 20 is operating in reverse.The backup sensors 30A and 30B each have a field of view 32A and 32B. The field of view 32A / 32B is generally the area that the sensors can scan and within which they can detect objects. The fields of view 32A and 32B of each of the backup sensors 30A and 30B may be restricted or blocked by surrounding objects. For example, as shown in FIG. 1A, the field of view 32A of the backup sensor 30A may be blocked and limited by a vehicle 40A parked on the left side of the vehicle 20. As a result, the reversing sensor 30A is unable to detect the presence of the pedestrian 32A. The field of view 32B of the backup sensor 30B is blocked by a parked vehicle 40B, and thus the backup sensor 30B is unable to detect the presence of the cyclist 32B. As shown in FIG. 1B, once the vehicle 20 exits its parking spot in a rearward direction, the fields of view 32A and 32B of the backup sensors 30A and 30B are restored because the adjacent vehicles 40A and 40B no longer interfere with the backup sensors 30A and 30B. Thus, in the unshielded state of FIG. 1B, the backup sensor 30A is capable of detecting the presence of the pedestrian 42A, and the backup sensor 30B is capable of detecting the presence of the cyclist 42B. Although the obstacles that block the backup sensors 30A and 30B as adjacent parked vehicles 40A and 40B as shown in the drawing, the sensors 30A and 30B may be shielded by other objects such as fences or walls that may be present in parking spaces, for example.Referring to FIGS. 1A and 1B, and additionally referring to FIG. 2, the backup assist system 10 according to the present invention will be described below. The backup assist system 10 includes a backup control module 50. the backup control module 50 receives inputs from a sensor module 52, a shift position detection module 54, and a wheel speed sensor module 56. the backup control module 50 generates outputs to a display module 60, a notification module 62, a brake module 64, and an engine module 66. The term module may further refer to, be part of, or include processing hardware (shared, associated, or grouped) executing code, and storage hardware (shared, associated, or grouped) storing code to be performed by the processing hardware. The code is configured to provide the features of the modules described herein. With respect to the backup control module 50, it may include any suitable processing hardware, memory hardware, and code configured to provide the features of the backup control module 50 described herein, as well as the features of the backup assist system 10 in general.The sensor module 52 includes any suitable backup sensor for the vehicle 20 configured to identify obstacles in or around a backup path of the vehicle 20. The sensor module 52 may include, for example, the backup sensors 30A and 30B, as well as any other suitable backup sensor, such as a suitable ultrasonic sensor, lidar sensor, radar sensor, and / or backup camera. The sensor module 52 is further configured to determine whether the field of view (such as the field of view 32A and 32B) of the backup sensors (such as the sensors 30A and 30B) is limited by nearby objects, such as the parked vehicles 40A and 40B on opposite sides of the vehicle 20, or any other vehicle, fence, wall, etc., particularly those that may be found in a parking lot. Thus, the sensor module 52 is configured to determine whether the fields of view 32A and 32B are limited, for example, as shown in the drawing in FIG. 1A, or whether the fields of view 32A and 32B are generally not limited, such as shown in FIG. 1B. The sensor module 52 receives inputs from the backup sensors, such as sensors 30A and 30B, and is configured to process and analyze the inputs to determine whether the fields of view 32A and 32B are limited (i.e., shielded) or unlimited. The sensor module 52 is further configured to generate inputs to the backup control module 50 that indicate whether or not one or more of the backup sensors 30A and 30B are shielded so that their field of view 32A or 32B is reduced.The shift position detection module 54 is configured to identify the position of a shift lever of the vehicle 20, and thus identify the gear in which the vehicle is located, such as whether the vehicle 20 is in a reverse gear. The shift position detection module 54 is configured to generate an input to the backup control module 50 that identifies the gear in which the vehicle 20 is located.The wheel speed sensor module 56 includes a sensor configured to determine the wheel speed of the wheels of the vehicle 20. Any suitable wheel speed detection sensor may be used. The wheel speed sensor module 56 is configured to generate an input to the backup control module 50 that identifies the wheel speed of the wheels of the vehicle 20.The backup control module 50 is generally configured to limit a vehicle backup speed, acceleration, and / or jerk if, as shown in FIG. 1A, the field of view 32A / 32B of one or more of the backup sensors 30A / 30B is limited. Limiting vehicle jerk refers to limiting the rate of change of acceleration of the vehicle 20. the backup control module 50 may be further configured to automatically stop the vehicle 20 if the sensors 30A / 30B are no longer in the shielded state of FIG. 1A (and thus moved to the unshielded state of FIG. 1B ) to allow the driver to check for obstacles. The backup control module 50 may set a distance that the vehicle 20 is allowed to drive in reverse before the brakes are automatically applied to stop the vehicle 20 so that the area behind the vehicle 20 may be checked for obstacles if the vehicle 20 is going out of a parking spot in reverse, for example.The backup control module 50 may be configured to set a maximum value (or predetermined limit) for the vehicle backup speed, acceleration, and / or jerk. The maximum value may be set by the manufacturer or may be customized by the driver. The backup control module 50 may be further configured to set the maximum value based on the degree to which the field of view 32A / 32B is shielded or limited. For example, if the field of view 32A / 32B is only slightly limited, the backup control module may be configured to set the maximum speed, the maximum acceleration, and the maximum jerk greater than in the case that the field of view 32A / 32B is limited or shielded to a greater extent.If the backup control module 50 determines that the field of view 32A / 32B of one or more of the sensors 30A / 30B has been limited based on the inputs from the sensor module 52, the backup control module 50 sends an input to the display module 60 instructing the display module 60 to notify the driver of the vehicle 20 of the shielded state (i.e., that the field of view 32A / 32B has been limited). The display module 60 is further configured to notify the driver of the shielding state in any suitable manner. For example, the display module 60 may display a warning to the driver. The backup control module 50 may also instruct a notification module 62 that includes any suitable audio and / or visual warning to notify the driver of the screening condition. The notification module 62 may include, for example, an audible buzzer or bell sound, and / or a display light that notifies the driver of the shielding state of the sensors 30A and / or 30B.If the backup control module 50 identifies a shielded state of the sensors 30A / 30B and identifies that the transmission of the vehicle 20 has been placed in a reverse gear based on input from the shift position detection module 54, the backup control module 50 is configured to command the brake module 64 to limit the distance the vehicle 20 can travel in the reverse gear before being automatically stopped to allow the driver time to check the area behind the vehicle 20 for obstacles. The backup control module 50 is also configured to transmit an instruction to the engine module 66 instructing the engine module 66 to limit the backup speed of the vehicle 20 and / or limit the reverse acceleration speed of the vehicle 20 such that the backup speed, acceleration, and / or jerk do not exceed their maximum values stored in and / or by the backup control module 50. The brake module 64 may include any suitable device configured to apply the brakes of the vehicle 20. The engine module 66 may include any suitable device, such as an engine control unit, configured to regulate an engine speed and / or acceleration of the vehicle 20 if operated in reverse.With continued reference to FIGS. 1A, 1B, and 2, and additional reference to FIG. 3, a method 110 for assisting a driver in operating the vehicle 20 in reverse is described below.The method starts at block 112 if the backup control module 50 detects that the transmission of the vehicle 20 has been placed in reverse in response to input received from the shift position detection module 54. At block 114, the sensor module 52 determines whether or not the backup sensors 30A and / or 30B are operating in a shielded state. In other words, the sensor module 52 determines whether the field of view 32A and / or 32B of the sensors 30A and / or 30B is limited due to the presence of objects adjacent to the vehicle 20, such as the parked vehicles 40A and 40B, or any other object. The sensor module 52 informs the backup control module 50 whether or not a shielded state exists.If the field of view 32A and / or 32B is not limited, the method 110 proceeds to the end block 124, and the vehicle 20 may be operated in reverse without limiting the reverse speed, acceleration, or jerk. If a shielded condition is detected, the method 110 proceeds to block 116 where the backup control module 50 notifies the driver of the shielded condition using the display module 60 and / or the notification module 62 to provide any suitable visual and / or audible warning.From the block 118, the method 110 proceeds to block 120, where the backup control module 50 determines whether the backup speed, acceleration, and / or jerk exceeds their maximum values. If the maximum values have not been exceeded, the method 110 proceeds to block 124, and the vehicle 20 may be operated in reverse without limitations. If, at block 120, the backup control module 50 determines that the backup speed, acceleration, and / or jerk exceed their maximum values, the backup control module 50 limits the backup speed, acceleration, and / or jerk at block 122 such that their maximum values are not exceeded. The method 110 ends at block 124 if the vehicle 20 has safely completed its backup operation (e.g., if the vehicle 20 has successfully backed out of its parking spot).The invention thus advantageously provides a backup assist system 10 and method 110 for assisting a driver in operating a vehicle in reverse if backup sensors such as sensors 30A and / or 30B have a limited field of view 32A / 32B or shielded by surrounding objects. If the field of view 32A and / or 32B is limited, the backup control module 50 limits the backup speed, acceleration, and / or jerk distance of the vehicle 20 when operating in reverse to minimize the possibility of contact between the vehicle 20 and obstacles outside of the field of view 32A / 32B, such as the pedestrian 42A and the cyclist 42B of FIG. 1A. After the vehicle 20 has traveled far enough beyond the parked vehicles 40A / 40B so that the field of view 32A / 32B is restored as shown in FIG. 1B, the backup control module 50 does not further limit the backup speed, acceleration, or jerk because the backup sensors 30A and 30B should be operable to adequately notify the rider of the vehicle 20 of surrounding obstacles as shown in FIG. 1B, such as the pedestrian 42A and the cyclist 42B.The foregoing description of the embodiments is provided for purposes of illustration and description. It is not intended to be exhaustive or to limit the disclosure. Individual elements or features of specific exemplary embodiments are generally not limited to the specific exemplary embodiment, but are optionally interchangeable and can be used in a selected exemplary embodiment, even if this is not specifically shown or described there. These may also be modified in many ways. Such modifications are not to be regarded as a departure from the disclosure, and all such modifications are to be regarded as included within the scope of the disclosure.Exemplary embodiments are provided so that this disclosure will be thorough, and will fully convey the scope to those skilled in the art. Numerous specific details, such as examples of specific components, apparatus, and methods, are provided to provide a thorough understanding of embodiments of the invention. It will be apparent to those skilled in the art that specific details need not be set forth, that example embodiments may be embodied in many different forms and that neither should be construed to limit the scope of the disclosure. In some exemplary embodiments, well-known methods, well-known device structures, and well-known technologies are not described in detail.The terminology used herein is for describing particular embodiments only and is not intended to be limiting. The singular forms "a", "an", and "the" as used herein may be intended to include the plural forms as well, unless the context indicates otherwise. The terms "comprises," "comprising," "including," "having," "having," and "with" are inclusive terms and thus specify the presence of stated features, numbers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, numbers, steps, operations, elements, components, and / or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their execution in the particular order illustrated or shown, unless specifically indicated as an execution order. It should also be understood that additional or alternative steps may be employed.If an element or layer is referred to as being "on," "interdigitated with," connected to," or "coupled to" another element or layer, it(s) may be directly on, interdigitated with, connected to, or coupled to the other element or layer, or intervening elements or layers may be present. In contrast, if an element or layer is described as being "directly on," "directly interlocked with," "directly connected to," or "directly coupled to" another element or layer, there may be no intervening elements or layers present. Other terms for describing the relationship between elements are intended to be interpreted in a similar manner (e.g., "between" versus "directly between", "opposing" versus "directly opposing", etc.). As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.Although the terms first, second, third, etc. may be used herein to describe various elements, constituents, regions, layers, and / or sections, these elements, constituents, regions, layers, and / or sections are not intended to be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or portion from another region, layer, or portion. Terms such as "first," "second," and / or other numerical terms used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer, or portion discussed below could also be referred to as a second element, component, region, layer, or portion without departing from the teachings of the exemplary embodiments.Spatially relative terms such as "inner," "outer," "under," "below," "drunder," "over," "above," and the like may be used herein for purposes of ease of description to describe a relationship of one element or feature to another / other element(s) or feature(s) of the figures. Spatially relative terms are intended to encompass different orientations of the device or process used in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, the elements or features described therein as "below" or "below" other elements or features would be subsequently disposed "above" the other elements or features. Thus, the example term "below" may include both an orientation above and below. The device may be otherwise oriented (90 degrees rotated or at other orientations) and the spatially relative descriptions used herein may be construed accordingly. Although the embodiments, configurations, and configuration of a vehicle backup assist system have been described as an example, it should be appreciated that embodiments, configurations, and configurations of the invention are not limited to the above-described respective embodiments, configurations, and configurations. For example, the embodiments, configurations, and configurations obtained by appropriately combining technical portions disclosed in the different embodiments, configurations, and configurations are included within the scope of the embodiments, configurations, and configurations of the invention.A backup assist system for a vehicle (20) comprising: a sensor module (52) having backup sensors (30A, 30B) identifying obstacles near a backup path of the vehicle, the sensor module configured to determine whether a field of view of the backup sensors is limited; a notification module (62) configured to notify a driver of the vehicle that the field of view of the backup sensors is limited; and a backup control module (50) configured to limit a vehicle backup speed, acceleration, and / or jerk if the field of view of the backup sensors is limited.

Claims

A backup assist system for a vehicle (20), the system comprising: a sensor module (52) having backup sensors (30A, 30B) identifying obstacles near a backup path of the vehicle, the sensor module configured to determine whether a field of view of the backup sensors is limited; a notification module (62) configured to notify a driver of the vehicle that the field of view of the backup sensors is limited; and a backup control module (50) configured to limit a vehicle backup speed, acceleration and / or jerk if the field of view of the backup sensors is limited, characterized in that the backup control module (50) is configured to automatically stop the vehicle (20) if the sensor module (52) determines that the field of view of the backup sensors (30A, 30B) is not further limited.The backup assist system of claim 1, wherein the backup control module is configured to limit a vehicle backup speed, acceleration, and / or jerk until the field of view of the backup sensors is unlimited.The backup assist system of claim 1 or 2, wherein the backup sensors comprise an ultrasonic sensor, a LIDAR sensor, a radar sensor, and / or a backup camera.The backup assist system of any of claims 1 to 3, wherein the notification module comprises an audible alarm and / or a visual alarm.The backup assist system according to any one of claims 1 to 4, wherein the backup assist module is configured to limit the vehicle backup speed, acceleration and / or jerk to predetermined limits.The backup assist system of any of claims 1 to 5, further comprising a shift position detection module (54) configured to detect whether a reverse gear of the vehicle has been engaged; wherein the backup control module is activated if the shift position detection module is in the reverse gear.The backup assist system of any of claims 1 to 6, further comprising a wheel speed sensor module (56) configured to measure a wheel speed of the wheels of the vehicle, the wheel speed sensor module cooperating with the backup control module to provide the wheel speed thereto.The backup assist system according to any one of claims 1 to 7, further comprising a display module (60) configured to notify the driver of the vehicle that the field of view of the backup sensors is limited.The backup assist system of any of claims 1 to 8, further comprising a brake module (64) configured to limit a vehicle backup speed, acceleration, and / or jerk; wherein the brake module is controlled by the backup control module.The backup assist system of any of claims 1 to 9, further comprising an engine module (66) configured to limit a vehicle backup speed and / or acceleration; wherein the engine module (66) is controlled by the backup control module.The backup assist system according to any one of claims 1 to 10, wherein the backup control module (50) is configured to set a distance that the vehicle (20) is allowed to travel in reverse before the vehicle (20) is automatically stopped.A method for assisting a driver in operating a vehicle (20) in reverse, the method comprising the steps of: determining (114) whether a field of view of the backup sensors of the vehicle is limited, the backup sensors configured to identify obstacles near a backup path of the vehicle; notifying (116) the driver that the field of view of the backup sensors is limited; and limiting (122) a vehicle reverse speed, acceleration, and / or jerk if the field of view of the backup sensors is limited and the vehicle is operated in reverse; characterized Automatically stopping the vehicle (20) by the backup control module (50) if it is determined that the field of view of the backup sensors is not further limited.The method of claim 12, further comprising a step of determining whether the field of view of the sensors is limited with a sensor module (52); wherein the backup sensors comprise an ultrasonic sensor, a LIDAR sensor, a radar sensor, and / or a backup camera.The method of claim 12 or 13, further comprising notifying the driver with an audible alarm and / or a visual alarm that the field of view of the backup sensors is limited.Method according to one of Claims 12 to 14, further comprising the step of: limiting (118) a vehicle return speed, acceleration and / or jerk to predetermined limits.The method of any of claims 12 to 15, further comprising the step of: determining with a shift position detection module (54) whether a reverse gear of the vehicle has been engaged; and limiting a vehicle reverse speed, acceleration, and / or jerk if the reverse gear of the vehicle has been engaged and the field of view of the reverse sensors is limited.The method of any of claims 12 to 16, further comprising the step of: determining a wheel speed of the vehicle with a wheel speed sensor module (52); and limiting a wheel speed of the wheels if the measured reverse wheel speed exceeds a predetermined limit and the field of view of the backup sensors is limited.The method of any of claims 12 to 17, further comprising the step of: using a display module (60) to notify the driver that the field of view of the backup sensors is limited.The method of any of claims 12 to 18, further comprising the step of: limiting a vehicle return speed, acceleration, and / or jerk with a brake module (64) controlled by a return control module.The method of any of claims 12 to 19, further comprising the step of: limiting a vehicle return speed and / or acceleration with an engine module (66) if the return speed or acceleration exceeds a predetermined threshold and the field of view of the return sensors is limited.The method of any of claims 12 to 20, further comprising the step of cancelling the limitation of the vehicle return speed, acceleration and jerk if the field of view of the return sensors is restored.The method of any of claims 12 to 20, further comprising the step of setting a distance the vehicle (20) is allowed to travel in reverse before automatically stopping the vehicle (20).

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