Method for generating a warning in a vehicle

Abstract

According to various embodiments, a computer-implemented method for generating a warning in a vehicle includes detecting a target vehicle moving towards the vehicle on a road. The method further includes determining a perceived overlapping distance between the target vehicle and the vehicle in a direction at least substantially perpendicular to a traffic direction of the road, and determining a longitudinal distance between the target vehicle and the vehicle along the traffic direction of the road. The method further includes determining a probability that the target vehicle will pass by the vehicle based on the longitudinal distance exceeding a distance threshold and the perceived overlapping distance being less than an overlapping threshold, and generating a warning based on determining that the probability exceeds a probability threshold.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a computer-implemented method for generating a warning in a vehicle. For specifically, the method can be suitable for use in a warning against alighting from the vehicle. The present disclosure further relates to a data processing apparatus, a computer-readable medium, and a computer program which can be associated with the computer-implemented method for generating a warning in a vehicle, as well as use of the computer-implemented method for activating an occupant safe exit warning.BACKGROUND

[0002] Advanced Driver Assistance System (ADAS) typically use sensors and software technology to provide automation and safety functions to the driver of a vehicle. One of the safety functions is to warn of a possible collision with a moving vehicle if occupants alight the vehicle. The function is referred herein as the Occupant Safe Exit (OSE) function. The OSE function may detect approaching vehicles when an occupant of the vehicle is about the open the vehicle door, for example, to alight from a parked vehicle. The OSE function may also prevent dooring incidents where cyclists get hurt by opening car doors. The OSE function may generate a warning signal based on predicting that an approaching vehicle will pass by the vehicle that the occupant is exiting from. However, when the approaching vehicle is located far behind the vehicle, the approaching vehicle may be detected as laterally overlapping to the vehicle due to lower detection accuracy, causing the OSE function to not generate a warning signal, even though the approaching vehicle may be passing by the vehicle.SUMMARY

[0003] According to various embodiments, there is provided a computer-implemented method for generating a warning in a vehicle, according to various embodiments. The method includes detecting a target vehicle moving towards the vehicle on a road. The method further includes determining a perceived overlapping distance between the target vehicle and the vehicle in a direction at least substantially perpendicular to a traffic direction of the road, and determining a longitudinal distance between the target vehicle and the vehicle along the traffic direction of the road. The method further includes determining a probability that the target vehicle will pass by the vehicle based on the longitudinal distance exceeding a distance threshold and the perceived overlapping distance being less than an overlapping threshold. The method further includes generating a warning based on determining that the probability exceeds a probability threshold.

[0004] According to various embodiments, there is provided a computer-readable medium. The computer-readable medium includes instructions which, when executed by a computer, cause the computer to carry out the abovementioned method for generating a warning in a vehicle.

[0005] According to various embodiments, there is provided a computer program. The computer program includes instructions which, when the computer program is executed by a computer, causes the computer to carry out the abovementioned method for generating a warning in a vehicle.

[0006] According to various embodiments, there is provided a data processing apparatus. The data processing apparatus includes means for carrying out the abovementioned method for generating a warning in a vehicle.

[0007] According to various embodiments, the abovementioned method for generating a warning in a vehicle can be used for generating an occupant safe exit warning.

[0008] Additional features for advantageous embodiments are provided in the dependent claims.BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In the drawings, like reference characters generally refer to the same parts throughout the different views. The drawings are not necessarily to scale, emphasis instead generally being placed upon illustrating the principles of the invention. In the following description, various embodiments are described with reference to the following drawings, in which: FIG. 1 shows an example of a traffic scenario, where the OSE function of an ADAS may generate a warning. FIG. 2 includes a graph 200 and a schematic plan view of a road, to show how an OSE function generates cascading warnings, according to various embodiments. FIG. 3 is a schematic diagram to illustrate how the OSE determines whether to generate a warning signal, according to various embodiments. FIGS. 4 and 5 show schematic diagrams of a road situation. FIG. 6 shows a flow diagram of a method for generating a warning in a vehicle, according to various embodiments. FIG. 7 shows a block diagram of a data processing apparatus according to various embodiments. DESCRIPTION

[0010] Embodiments described below in context of the devices are analogously valid for the respective methods, and vice versa. Furthermore, it will be understood that the embodiments described below may be combined, for example, a part of one embodiment may be combined with a part of another embodiment.

[0011] It will be understood that any property described herein for a specific device may also hold for any device described herein. It will be understood that any property described herein for a specific method may also hold for any method described herein. Furthermore, it will be understood that for any device or method described herein, not necessarily all the components or steps described must be enclosed in the device or method, but only some (but not all) components or steps may be enclosed.

[0012] The term "coupled" (or "connected") herein may be understood as electrically coupled or as mechanically coupled, for example attached or fixed, or just in contact without any fixation, and it will be understood that both direct coupling or indirect coupling (in other words: coupling without direct contact) may be provided.

[0013] In this context, the device as described in this description may include a memory which is for example used in the processing carried out in the device. A memory used in the embodiments may be a volatile memory, for example a DRAM (Dynamic Random Access Memory) or a non-volatile memory, for example a PROM (Programmable Read Only Memory), an EPROM (Erasable PROM), EEPROM (Electrically Erasable PROM), or a flash memory, e.g., a floating gate memory, a charge trapping memory, an MRAM (Magnetoresistive Random Access Memory) or a PCRAM (Phase Change Random Access Memory).

[0014] In this context, a vehicle equipped with an OSE function being described, may be referred to as a "subject vehicle."

[0015] In order that the invention may be readily understood and put into practical effect, various embodiments will now be described by way of examples and not limitations, and with reference to the figures.

[0016] FIG. 1 shows an example of a traffic scenario, where the OSE function of an ADAS may generate a warning. In this example, a cyclist 104 is riding adjacent to a subject vehicle 102. The ADAS of the subject vehicle 102 may generate a warning to deter its occupant from opening the vehicle door. If the occupant were to open the vehicle door to alight, the vehicle door may hit the cyclist 104. In other words, a dooring incident might occur. By generating a warning to the driver or occupants of the subject vehicle 102, or by temporarily locking the vehicle doors, the OSE function may prevent a dooring incident from occurring. The OSE function may generate cascading warnings, which are described with respect to FIG. 2.

[0017] FIG. 2 includes a graph 200 and a schematic plan view of a road, to show how an OSE function generates cascading warnings, according to various embodiments. The graph 200 has a horizontal axis 202 that indicates criticality level, and a vertical axis 204 that indicates warning level. The criticality level may be associated with, or proportional to, time-to-collision (TTC). The TTC may be the time taken for the target vehicle 210 to collide with the subject vehicle 102 if at least one door of the subject vehicle 102 is open towards the target vehicle 210. The warning level may indicate the severity of the warning. The warning level may be associated with, or proportional to, a risk of collision.

[0018] As an example, the subject vehicle 102 may be parked on a roadside. The ADAS of the subject vehicle 102 may detect an approaching vehicle, herein referred to as a target vehicle 210. The ADAS may detect the target vehicle 210 using a perception sensor, such as one of a LiDAR, a camera, a radar, or a combination thereof. The target vehicle 210 may be travelling in a motion direction 212. The OSE function may also estimate the heading of the target vehicle 210 based on data obtained from the perception sensor. When the target vehicle 210 reaches position "A", the OSE function may compute the TTC and determine that the TTC meets a "level 0" threshold. The OSE function may thereby generate a "level 0" warning 206. When the target vehicle 210 reaches position "B", which is nearer to the subject vehicle 102, the OSE function may generate a "level 1" warning based on determining that the TTC now meets a "level 1" threshold. The "level 0" threshold may be a larger TTC number than the "level 1" threshold. The "level 1" warning may be designed to catch the attention of the driver and / or occupants of the subject vehicle 102 more so than the "level 0" warning. For example, the "level 0" warning may include a visual indication, such as a light. For example, the "level 1" warning may include an audio indication, such as a buzzing sound. The "level 0" warning may remain active when the "level 1" warning is activated, i.e., the "level 1" warning may be cascaded over the "level 0" warning.

[0019] FIG. 3 is a schematic diagram to illustrate how the OSE determines whether to generate a warning signal, according to various embodiments. A first breakthrough line 302 and a second breakthrough line 304 may be predefined. Each of the first breakthrough line 302 and a second breakthrough line 304 may be straight lines. The length of each of the first breakthrough line 302 and a second breakthrough line 304 may be predefined, for example, in a range of about 1.5m to about 2m. The length of the breakthrough lines may represent a collision distance between an approaching target, such as the target vehicle 210, and passengers who alight from the subject vehicle 102.

[0020] The OSE function of the subject vehicle 102 may determine a heading 320 of the target vehicle 210 relative to the subject vehicle 102. The heading 320 of the target vehicle 210 relative to the subject vehicle 102 may be an angle between the vectors of the motion direction 212 of the target vehicle 210 and the lengthwise direction 314 of the subject vehicle 102. The OSE function may predict a trajectory 306 of the target vehicle 210 based on the heading 320. In the example shown, the trajectory 306 is parallel to the motion direction 212.

[0021] The OSE function may also determine whether the motion direction 212 intersects with both the first breakthrough line 302 and the second breakthrough line 304 based on the heading 320. This may be referred herein as the first warning condition. The intersection points between any one of the first breakthrough line 302 and the second breakthrough line 304, with the motion direction 212 are referred to herein as the predicted crossing points 310. The OSE function may also determine whether the time for the target vehicle to reach the first breakthrough line 302 is equal to, or more than, a predefined TTC threshold. This may be referred herein as the second warning condition. The OSE function may generate a warning signal if both the first and second warning conditions are fulfilled.

[0022] FIGS. 4 and 5 show schematic diagrams of a road situation. The traffic direction 402 and lateral direction 404 are indicated by dashed arrows in the diagram. The lateral direction 404 may be at least substantially perpendicular to the traffic direction 402. The perception sensor of the subject vehicle 102 may detect a target vehicle 210 approaching the subject vehicle 102 from behind the subject vehicle 102. When the target vehicle 210 is far behind the subject vehicle 102, the perception sensor of the subject vehicle 102 may not be able to accurately detect the lateral distance 502 between the subject vehicle 102 and the target vehicle 210.

[0023] Referring to FIG. 4, the lateral distance 502 is the distance between the subject vehicle 102 and the target vehicle 210 along the lateral direction 404. Due to the lateral distance being less than the accuracy or precision level of the perception sensor or the localization sensor of the subject vehicle 102, the ADAS of the subject vehicle 102 may determine the target vehicle 210 to be at least substantially directly behind the subject vehicle 102, like shown in FIG. 5. In other words, the ADAS of the subject vehicle 102 may determine the target vehicle 210 to be laterally overlapping with the subject vehicle 102, such that the target vehicle 210 is trailing behind the subject vehicle 102. If this incorrect determination is not rectified, the ADAS may not activate an OSE warning signal, as a trailing target vehicle 210 will not pass by a side of the subject vehicle 102.

[0024] To counter this problem, the OSE function of the ADAS may determine whether the perceived overlapping distance 406 is within an overlapping threshold. If the perceived overlapping distance is within the overlapping threshold, the ADAS may consider the possibility that the target vehicle 210 may pass by a side of the subject vehicle 102. The perceived overlapping distance 406 may be defined as the width of the portion of the subject vehicle 102 that is directly in front of the target vehicle 210. If the perceived overlapping distance 406 is less than an overlapping threshold, for example, being in a range of zero to about 1 metre, the ADAS of the subject vehicle 102 may consider the probability that the target vehicle may move away from being behind the vehicle 102.

[0025] The ADAS of the subject vehicle 102 may determine a longitudinal distance 408 between the target vehicle 210 and the subject vehicle 102. The longitudinal distance 408 may be defined as a distance between target vehicle 210 and the subject vehicle 102 along the longitudinal direction 402. If the longitudinal distance 408 is sufficiently large, the target vehicle 210 may have space to maneuver to go past the subject vehicle 102. For example, the target vehicle 210 may travel along the trajectory 410 to overtake the subject vehicle 102.

[0026] The OSE function may determine a probability that the target vehicle will pass by the subject vehicle 102 based on the longitudinal distance 402. The probability may be referred herein as the pass-by-probability. The pass-by-probability may be determined based on whether the longitudinal distance 408 exceeds a predefined distance threshold. The distance threshold may be a minimum distance that allows the target vehicle 210 to move to a side of the subject vehicle 102. The OSE function may determine whether the pass-by-probability exceeds a predefined probability threshold. If the pass-by-probability exceeds the predefined probability threshold, the OSE function may generate a warning signal.

[0027] According to various embodiments, the pass-by-probability may be determined further based on whether the longitudinal distance is sufficiently large for the target vehicle 210 to decelerate and stop by braking at a predefined deceleration, such as less than -0.4G, for example, less than -0.2G.

[0028] According to various embodiments, the ADAS of the subject vehicle 102 may increase the pass-by-probability based on the speed of the target vehicle 210. For example, the target vehicle 210 may be more likely to pass by the subject vehicle 102 if it has a speed of more than about 30 kilometer per hour (kph), for example, more than 45 kph. The ADAS may also increase the pass-by-probability based on a vehicle type of the target vehicle 210. The ADAS may determine the vehicle type based on image recognition techniques using image data captured by an onboard camera. For example, the target vehicle 210 may be more likely to pass by the subject vehicle 102 if the target vehicle 210 is one of a car, truck, motorcycle, or bicycle. These vehicle types typically travel at high velocity.

[0029] According to various embodiments, the first and second breakthrough lines 302, 304 may intersect the subject vehicle 102 and may be at least substantially perpendicular to a lengthwise direction 314 of the subject vehicle 102. The lengthwise direction 314 may be a heading of the subject vehicle 102. The lengthwise direction 314 may be a direction connecting the rear and front of the subject vehicle 102.

[0030] According to various embodiments, the first breakthrough line 302 may be aligned with a position of the rear doors of the subject vehicle 102. The second breakthrough line 304 may be aligned with a position of the front doors of the subject vehicle 102. The first breakthrough line 302 may connect the left and right rear doors of the subject vehicle 102. The second breakthrough line 304 may connect the left and right front doors of the subject vehicle 102.

[0031] FIG. 6 shows a flow diagram of a method 600 for generating a warning in a vehicle, according to various embodiments. The method 600 may include processes 602, 604, 606, 608 and 610. The process 602 may include detecting a target vehicle 210 moving towards the vehicle on a road. The vehicle may be the subject vehicle 102. The process 604 may include determining a perceived overlapping distance 406 between the target vehicle 210 and the vehicle in a lateral direction 404 at least substantially perpendicular to a traffic direction 402 of the road 220. The process 606 may include determining a longitudinal distance between the target vehicle 210 and the vehicle along the traffic direction 402 of the road. The process 608 may include determining a probability that the target vehicle 210 will pass by the vehicle based on the longitudinal distance exceeding a distance threshold and the perceived overlapping distance being less than an overlapping threshold. The process 610 may include generating a warning based on determining that the probability exceeds a probability threshold.

[0032] According to an embodiment which may be combined with any above-described embodiment or with any below described further embodiment, determining the probability that the target vehicle 210 will pass by the side of the vehicle, i.e. the process 506, may further include classifying the target vehicle 210, and increasing the probability based on classifying the target vehicle 210 as one of a car, truck, motorcycle or bicycle.

[0033] According to an embodiment which may be combined with any above-described embodiment or with any below described further embodiment, the method 500 may further include determining speed of the target vehicle 210.

[0034] According to an embodiment which may be combined with any above-described embodiment or with any below described further embodiment, determining speed of the target vehicle 210 may be performed using a radar. The radar may be for example, a short range-radar.

[0035] According to an embodiment which may be combined with any above-described embodiment or with any below described further embodiment, determining the probability that the target vehicle 210 will pass by the side of the vehicle, i.e. the process 506, may further include increasing the probability based on determining that the speed of the target vehicle 210 exceeds a predefined speed threshold.

[0036] According to an embodiment which may be combined with any above-described embodiment or with any below described further embodiment, the process 506 may further include determining whether the target vehicle 210 can stop behind the vehicle by decelerating at a predefined deceleration, based on the determined speed and the longitudinal distance between the target vehicle 210 and the vehicle, and decreasing the probability if the target vehicle 210 is able to stop behind the vehicle by decelerating at the predefined deceleration. As an example, the predefined deceleration may be 0.2G.

[0037] According to an embodiment which may be combined with any above-described embodiment or with any below described further embodiment, determining the perceived overlapping distance may include determining the perceived overlapping distance based on at least one of data from a perception sensor and data from a localization sensor. For example, the perception sensor may include a radar, such as a short range radar. For example, the localization sensor may include a GPS or an inertial measurement unit.

[0038] According to an embodiment which may be combined with any above-described embodiment or with any below described further embodiment, the warning signal may be an OSE warning signal.

[0039] According to various embodiments, a computer-readable medium 702 may include instructions which, when executed by a computer, cause the computer to carry out the method 600.

[0040] According to various embodiments, a computer program may include instructions which, when the computer program is executed by a computer, cause the computer to carry out the method 600.

[0041] FIG. 7 shows a block diagram of a data processing apparatus 700 according to various embodiments. The data processing apparatus 700 may include means for carrying out the method 600. The data processing apparatus 700 may include a memory, for example, the abovementioned computer-readable medium 702. The data processing apparatus 700 may include a processor 704, or a computer configured to carry out the instructions stored in the memory. The processor 704 and the computer-readable medium 702 may be coupled by coupling line 706, for example, electrically and / or mechanically.

[0042] While embodiments of the invention have been particularly shown and described with reference to specific embodiments, it should be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is thus indicated by the appended claims and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced. It will be appreciated that common numerals, used in the relevant drawings, refer to components that serve a similar or the same purpose.

[0043] It will be appreciated to a person skilled in the art that the terminology used herein is for the purpose of describing various embodiments only and is not intended to be limiting of the present invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0044] It is understood that the specific order or hierarchy of blocks in the processes / flowcharts disclosed is an illustration of exemplary approaches. Based upon design preferences, it is understood that the specific order or hierarchy of blocks in the processes / flowcharts may be rearranged. Further, some blocks may be combined or omitted. The accompanying method claims present elements of the various blocks in a sample order, and are not meant to be limited to the specific order or hierarchy presented.

[0045] The previous description is provided to enable any person skilled in the art to practice the various aspects described herein. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects. Thus, the claims are not intended to be limited to the aspects shown herein, but is to be accorded the full scope consistent with the language claims, wherein reference to an element in the singular is not intended to mean "one and only one" unless specifically so stated, but rather "one or more." The word "exemplary" is used herein to mean "serving as an example, instance, or illustration." Any aspect described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other aspects. Unless specifically stated otherwise, the term "some" refers to one or more. Combinations such as "at least one of A, B, or C," "one or more of A, B, or C," "at least one of A, B, and C," "one or more of A, B, and C," and "A, B, C, or any combination thereof" include any combination of A, B, and / or C, and may include multiples of A, multiples of B, or multiples of C. Specifically, combinations such as "at least one of A, B, or C," "one or more of A, B, or C," "at least one of A, B, and C," "one or more of A, B, and C," and "A, B, C, or any combination thereof" may be A only, B only, C only, A and B, A and C, B and C, or A and B and C, where any such combinations may contain one or more member or members of A, B, or C. All structural and functional equivalents to the elements of the various aspects described throughout this disclosure that are known or later come to be known to those of ordinary skill in the art are expressly incorporated herein by reference and are intended to be encompassed by the claims.

Claims

1. A computer-implemented method (600) for generating a warning in a vehicle, the method (600) comprising: detecting a target vehicle (210) moving towards the vehicle on a road; determining a perceived overlapping distance (406) between the target vehicle (210) and the vehicle in a direction at least substantially perpendicular to a traffic direction (402) of the road; determining a longitudinal distance between the target vehicle (210) and the vehicle along the traffic direction (402) of the road; determining a probability that the target vehicle (210) will pass by the vehicle based on the longitudinal distance exceeding a distance threshold and the perceived overlapping distance (406) being less than an overlapping threshold; and generating a warning based on determining that the probability exceeds a probability threshold.

2. The method (600) of any preceding claim, wherein determining the probability that the target vehicle (210) will pass by the side of the vehicle comprises classifying the target vehicle (210), and increasing the probability based on classifying the target vehicle (210) as one of a car, truck, motorcycle, or bicycle.

3. The method (600) of any preceding claim, further comprising: determining speed of the target vehicle (210).

4. The method (600) of claim 3, wherein determining speed of the target vehicle (210) is performed using a radar.

5. The method (600) of any one of claims 3 to 4, wherein determining the probability that the target vehicle (210) will pass by the side of the vehicle comprises increasing the probability based on determining that the speed of the target vehicle (210) exceeds a predefined speed threshold.

6. The method (600) of any one of claims 3 to 5, wherein determining the probability that the target vehicle (210) will pass by the side of the vehicle comprises determining whether the target vehicle (210) can stop behind the vehicle by decelerating at a predefined deceleration, based on the determined speed and the longitudinal distance between the target vehicle (210) and the vehicle, and decreasing the probability if the target vehicle (210) is able to stop behind the vehicle by decelerating at the predefined deceleration.

7. The method (600) of any preceding claim, wherein the warning is an occupant safe exit warning.

8. The method (600) of any preceding claim, wherein determining the perceived overlapping distance (406) comprises determining the perceived overlapping distance (406) based on at least one of data from a perception sensor and data from a localization sensor.

9. A data processing apparatus (700) comprising means for carrying out the method (600) of any preceding claim.

10. A computer-readable medium (702) comprising instructions which, when executed by a computer, cause the computer to carry out the method (600) of any one of claims 1 to 8.

11. A computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out the method (600) of any one of claims 1 to 8.

12. Use of the method (600) of any one of claims 1 to 8 for generating an occupant safe exit warning.

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