Vehicle sway warning system for detecting unintentional sways of a vehicle and method

Abstract

A vehicle sway warning system 10 is provided for detecting unintentional sways of a vehicle 12 and generating warning signals. A computing device 14 captures parameters confirming a sway from a sensor

Description

FIELD OF THE INVENTION

[0001] The invention relates to the field of automobiles and more specifically to an Vehicle Sway Warning System for detecting unintentional sways of a vehicle according to claim 1. Furthermore, the present invention relates to a method, a corresponding computer program product and a corresponding non-transitory computer-readable storage medium. BACKGROUND INFORMATION

[0002] The IN201811026497A patent discloses a system and method designed to detect unintentional vehicle swaying and issue warnings when the vehicle sways without indicating a turn. The sway warning controller generates warnings based on the vehicle's yaw rate and the calculated sum of products involving the steering angle value, vehicle velocity, and time duration at each sampling point.

[0003] The objective of the invention is to provide a system and method that ensure safe driving, particularly concerning regulated driving on a road.

[0004] This objective is achieved through a system with the features of claim 1 of the patent application, as well as through a method according to the invention. Advantageous embodiments and further developments are apparent from the description and the dependent claims. SUMMARY OF THE INVENTION

[0005] One aspect of the invention relates to a Vehicle Sway Warning System implemented to detect unintended sways of a vehicle and generate warnings. The system includes an electronic computing device (for example a sway warning controller) configured to capture parameters confirming a sway from at least one sensor device, and compute a lateral displacement of the vehicle based on these parameters. It then compares this lateral displacement to a threshold value for lateral displacement at any given time. If the lateral value exceeds the threshold, a warning signal can be generated.

[0006] It's may be possible that, depending on a deactivated turn signal, the calculation of the lateral value and / or the comparison of the lateral value with the threshold value, and / or the generation of the warning signal, are feasible. Upon activation of the turn signal, indicating an impending turn, the parameters become invalid as they are specifically designed for straight-ahead driving or predefined curves. Different parameters or conditions come into play when executing a turn.

[0007] To solve the objective of the invention and thus provide an improved warning system, it is envisioned that the inclination of the vehicle is detectable as one of the parameters using Lidar, optical detection devices such as cameras, and / or map data. This detection may also depend on lane markings for lane delineation, which are detectable by optical detection devices. Anomalies / sways are identified when the driver is within the lane and swaying back and forth. Therefore, the inclination is not calculated using steering angle, velocity, or yaw rate, but rather through Lidar, cameras, and map data. The map data can be obtained, for example, through GPS data, while additional navigation systems, online or offline, can also be utilized. The captured values can be compared with known values for verification.

[0008] Additionally, lane markings can be detected and / or downloaded for comparison and utilization in defining a specific area where the vehicle should be moving. This allows for better detection of lateral displacement. The warning signal can be delivered visually, audibly, and / or haptically, such as through sounds, alerts from a driving assistance system, activating interior lights, vibrating the steering wheel or seat, etc.

[0009] It is possible that the additional parameters include at least the vehicle speed from a vehicle speed sensor, and / or at least the steering angle value from a steering angle controller, and / or at least the turning radius based on the obtained steering angle, and / or at least the yaw rate related to a wheelbase and steering angle ratio to a straight path or predefined curves.

[0010] It is specifically intended herein that all sensors or sensor devices and / or all components necessary for parameter detection are coupled with the electronic computing unit.

[0011] It is possible that a sway detection of the vehicle sway warning system is used as a warning signal in a larger AD stack, for example in a ADAS, to the driver, wherein the warning may be given as an audio signal, a visual signal and / or a haptic signal or as an alert icon in a head unit or in another component of the vehicle.

[0012] Another aspect of the invention relates to a method for operating a Vehicle Sway Warning System, wherein unintentional sways of a vehicle are detected and warnings are generated through warning signals. The method comprises capturing parameters confirming a sway from at least one sensor device by an electronic computing device, and calculating a lateral displacement of the vehicle based on these parameters. The lateral displacement is then compared to a threshold value for lateral displacement at any given time, and if the lateral displacement exceeds the threshold, a warning signal is generated. It is provided according to the invention that an inclination of the vehicle is detected as one of the parameters using Lidar, and / or an optical detection device, and / or map data.

[0013] In other words, unlike the state of art, which involves calculating / detecting tilt using steering angle, velocity, and yaw rate independent of lane markings, the proposal suggests calculating / detecting tilt using Lidar, camera, and map data. This system and method are, for example, reliant on lane markings, as anomalies / inclinations are detected when the driver is within the lane and swaying back and forth.

[0014] The steering angle and vehicle velocity used in the prior art, for instance, employ an inclination sensor that is not very sensitive for shorter durations, meaning the steering torque / angle must be quite high for it to function. As this is independent of lane markings, an additional feature like lane-keeping assist is redundant in the state of art.

[0015] Therefore, the primary differences lie in the utilization of lane markings and Lidar, camera, and map data instead of steering torque, yaw rate, etc.

[0016] In summary, the invention proposes an Active Vehicle Sway Monitoring system.

[0017] Further advantages, features, and details of the invention derive from the following description of preferred embodiments as well as from the drawing. The features and feature combinations previously mentioned in the description as well as the features and feature combinations mentioned in the following description of the figure and / or shown in the figure alone can be employed not only in the respectively indicated combination but also in any other combination or taken alone without leaving the scope of the invention. BRIEF DESCRIPTION OF THE DRAWING

[0018] The novel features and characteristic of the disclosure are set forth in the appended claims. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate exemplary embodiments and together with the description, serve to explain the disclosed principles. In the figures, the left-most digit(s) of a reference number identifies the figure in which the reference number first appears. The same numbers are used throughout the figures to reference like features and components. Some embodiments of system and / or methods in accordance with embodiments of the present subject matter are now described below, by way of example only, and with reference to the accompanying figures.

[0019] The drawing shows in:

[0020] Fig. 1 a schematic diagram illustrating a Vehicle Sway Warning System implemented to detect unintentional sways of a vehicle and generate warning signals.

[0021] In the figure the same elements or elements having the same function are indicated by the same reference signs. DETAILED DESCRIPTION

[0022] In the present document, the word "exemplary" is used herein to mean "serving as an example, instance, or illustration". Any embodiment or implementation of the present subject matter described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

[0023] While the disclosure is susceptible to various modifications and alternative forms, specific embodiments thereof have been shown by way of example in the drawing and will be described in detail below. It should be understood, however, that it is not intended to limit the disclosure to the particular forms disclosed, but on the contrary, the disclosure is to cover all modifications, equivalents, and alternatives falling within the scope of the disclosure.

[0024] The terms “comprises”, “comprising”, or any other variations thereof, are intended to cover a non-exclusive inclusion so that a setup, device or method that comprises a list of components or steps does not include only those components or steps but may include other components or steps not expressly listed or inherent to such setup or device or method. In other words, one or more elements in a system or apparatus preceded by “comprises” or “comprise” does not or do not, without more constraints, preclude the existence of other elements or additional elements in the system or method.

[0025] In the following detailed description of the embodiment of the disclosure, reference is made to the accompanying drawing that forms part hereof, and in which is shown by way of illustration a specific embodiment in which the disclosure may be practiced. This embodiment is described in sufficient detail to enable those skilled in the art to practice the disclosure, and it is to be understood that other embodiments may be utilized and that changes may be made without departing from the scope of the present disclosure. The following description is, therefore, not to be taken in a limiting sense.

[0026] Fig. 1 shows a schematic diagram illustrating a Vehicle Sway Warning System 10 implemented to detect unintentional sways of a vehicle 12 and generate warning signals 21. The system 10 comprises an electronic computing device 14 implemented capture parameters confirming a sway from at least one sensor device 16 and calculate a lateral displacement 18 of the vehicle 12 based on these parameters.

[0027] The lateral displacement 18 is then compared to a threshold value 20 for lateral displacement 18 at any given time. If the lateral displacement 18 exceeds the threshold value 20, a warning signal 21 may be generated. Here, two different-sized lateral displacements, 18a and 18b, are illustrated, both exceeding the threshold value 20, thus triggering a warning signal 21.

[0028] Depending on a deactivated turn signal, it is possible to perform the calculation of the lateral displacement 18, 18a, 18b, and / or comparison with the threshold value 20, and / or generation of the warning signal 21.

[0029] In addition, an inclination 22 of the vehicle 12 is detectable as one of the parameters using Lidar A, and / or an optical detection device B, and / or map data C. These map data C can, for instance, be obtained through GPS. The additional parameters include at least a vehicle speed and / or at least a steering angle value and / or at least a turning radius and / or at least a yaw rate.

[0030] On the shown road 23, lane markings 24 for lane delineation are detectable by means of an optical detection device 26, as anomalies are recognized when the driver is within the lane 28 and swaying back and forth. These lane markings 24 establish the boundary conditions for the operation of the system 10 and are therefore also optically detectable or otherwise obtainable.

[0031] The invention offers several specific advantages:

[0032] Firstly, it effectively reduces the risk of accidents by enhancing the vehicle's 12 ability to detect unintentional sways, thus enabling timely warnings to the driver.

[0033] Secondly, it improves driver attention monitoring by incorporating parameters such as vehicle 12 inclination, which can be detected using Lidar A, optical detection devices B, and map data C. This allows for a more comprehensive assessment of the driver's behavior and attentiveness.

[0034] Lastly, the system's 10 capability for preventive triggering of Lane Departure Warning (warning signals 21) provides additional time for the driver to react, potentially averting dangerous situations on the road. List of reference signs 10 Vehicle Sway Warning System 12 vehicle 14 electronic computing device 16 sensor device 18, 18a, 18b 20 lateral displacement threshold value 21 warning signal 22 inclination 23 road 24 lane markings 26 optical detection device 28 lane A Lidar B optical detection device C map data (GPS)

Claims

1. Vehicle Sway Warning System (10) for detecting unintentional sways of a vehicle (12) and generating warning signals, comprising an electronic computing device (14) implemented to capture parameters confirming a sway from at least one sensor device (16) and calculate a lateral displacement (18) of the vehicle (12) based on these parameters, comparing this lateral displacement (18) to a threshold value (20) for lateral displacement at any given time, wherein if the lateral displacement (18) exceeds the threshold value (20), a warning signal (21) can be generated, characterized in thatan inclination (22) of the vehicle (12) is detectable as one of the parameters by means of a Lidar (A) and / or by means of an optical detection device (B) and / or by means of map data (C).

2. Vehicle Sway Warning System (10) according to claim 1, characterized in thatlane markings (24) for lane delineation are detectable by means of an optical detection device (26), as anomalies are recognized when the driver is in the lane (28) and swaying back and forth.

3. Vehicle Sway Warning System (10) according to claim 1 or 2, characterized in thatdepending on a deactivated turn signal, the calculation of the lateral value and / or the comparison of the lateral displacement with the threshold value and / or the generation of the warning signal are feasible.

4. Vehicle Sway Warning System (10) according to any one of the preceding claims, characterized in thatthe additional parameters include at least a vehicle speed and / or at least a steering angle value and / or at least a turning radius and / or at least a yaw rate.

5. Vehicle Sway Warning System (10) according to any one of the preceding claims, characterized in thata sway detection is used as a warning signal in a larger AD stack.

6. Method for operating a Vehicle Sway Warning System (10), wherein unintentional sways of a vehicle (12) are detected and warnings are generated through warning signals, comprising capturing parameters confirming a sway from at least one sensor device (16) by an electronic computing device (14), and calculating a lateral displacement (18) of the vehicle based on these parameters, wherein the lateral displacement (18) is then compared to a threshold value (20) for lateral displacement (18) at any given time, and if the lateral displacement (18) exceeds the threshold, a warning signal (21) is generated, characterized in thatan inclination (22) of the vehicle (12) is detected as one of the parameters using Lidar (A), and / or an optical detection device (B), and / or map data (C).

7. Computer program product comprising program code means for performing a method according to claim 5.

8. Non-transitory computer-readable storage medium comprising at least the computer program product according to claim 6.10

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