DESC:FIELD OF INVENTION

The present invention relates to automobile warning system with reduced no. of driver alerts. In particular, the present invention relates to an automobile warning system which continuously monitors the driver’s current status and vehicle environment for assessing threat of vehicle collision. More particularly to the present invention relates to an automobile warning system, which combines the data obtained from continuous monitoring for issuing suitable warning level to be issued to the driver.

BACKGROUND OF THE INVENTION

The term widespread used today in automotive field is “Autonomous vehicles” which means vehicles having the power for self-governance or which can act alone or independently. The term “Automated” connotes control or operation by a machine. The following are the classifications of automated vehicles as defined by the SAE International:

Level 0: Automated system has no vehicle control, but may issue warnings.

Level 1: Driver must be ready to take control at any time. Automated system may include features such as Adaptive Cruise Control (ACC), Parking Assistance with automated steering, and Lane Keeping Assistance (LKA) Type II in any combination.

Level 2: The driver is obliged to detect objects and events and respond if the automated system fails to respond properly. The automated system executes accelerating, braking, and steering. The automated system can be deactivated immediately upon takeover by the driver.

Level 3: Within known, limited environments (such as freeways), the driver can safely turn their attention away from driving tasks.

Level 4: The automated system can control the vehicle in all but a few environments such as severe weather. The driver must enable the automated system only when it is safe to do so. When enabled, driver attention is not required.
Level 5: Other than setting the destination and starting the system, no human intervention is required. The automatic system can drive to any location where it is legal to drive.

The levels 0 through 2 above involve human drivers for monitoring the driving environment.

Till actual introduction of Autonomous or self-driving vehicles in real-life scenario, the vehicle drivers have to perform all aspects of driving related operational and monitoring activities in a motor vehicle, which is covered under ‘0’ (zero) level of driving automation for on-road vehicles as mentioned above.

In other words, there is no automation under ‘0’ level of automation and the full-time performance of the automobile is to be delivered by the human driver, i.e. all aspects of the dynamic driving task, even when enhanced by warning or intervention systems. Therefore, the automated system here has no vehicle control, but it may issue warnings.

The next level ‘1’ (one) of driving automation for on-road vehicles is defined as: the driving mode-specific execution by one or more driver assistance systems of both steering and acceleration/deceleration using information about the driving environment and with the expectation that the human driver performs all remaining aspects of the dynamic driving task.

The last level ‘2’ (two) concerns “Partial Automation, in which the driving mode specific execution by the one or more driver assistance systems of both steering and acceleration/deceleration using information about the driving environment and with the expectation that the human driver performs all remaining aspects of the dynamic driving task.

So, these are the key concepts related to the increasing automation of on-road vehicles, which have been studied to be implemented by the applicants for sequential implementation in the vehicles manufactured by them.
PRIOR ART

US2016/0033640 A1 discloses a vehicle radar system for monitoring a blind spot of a vehicle, which includes a radar transmitter mounted on the vehicle and a transmitting antenna coupled to the radar transmitter. The transmitting antenna transmits radiation in a pattern into a region adjacent to the vehicle, the pattern comprising a first radiation lobe and a second radiation lobe. A null region of the pattern between the first lobe and the second lobe is directed into the region approximately perpendicular to a longitudinal axis of the vehicle, the longitudinal axis running between a rear end of the vehicle and a front end of the vehicle and running along a line of travel of the vehicle.

US2015/0232028 A1 discloses a blind spot detection system having a sensor system in a vehicle for detecting the presence of other vehicles in blind spot areas behind and to the side of the vehicle. The sensor system provides a signal to a visual alert display device and an audible alarm to warn a driver of the vehicle in one or more of the blind spot areas. A video camera and the visual alert display device are disposed within the housing of an exterior mirror assembly. The video camera provides video display data to a video display screen to provide the driver with a video image of the second vehicle when a turn signal actuator is actuated to provide a turn signal actuation signal.

DISADVANTAGES WITH THE PRIOR ART

Although, the prior art discloses different blind spot detection systems, no prior art discloses a blind spot detection system, in which besides external vehicle environment, the driver’s current status is also considered for detecting the current blind spot detection along with threat assessment.

Moreover, in vehicles fitted with ‘0’ level of driving automation, the problem is that there are too many warning issued very frequently by the collision warning systems, particularly while being driven in cities, which are getting congested everyday due to excessively high number of vehicles being added in a fast-growing country like India.
So, these drivers are tempted to switch-off their collision warning systems to avoid inconvenience faced while driving in such heavily packed bumper to bumper traffic.

This attitude was verified by obtaining detailed feedbacks from a significant number of vehicle drivers, who confirmed that often they turn-off the collision warning system and lane-departure system fitted in their vehicle due to excessive alerts issued by these collision warning systems. This defeats the whole purpose of fitting modern day vehicles with such driver-friendly devices, which also increase overall vehicle cost significantly.

OBJECTS OF THE INVENTION

Some of the objects of the present invention - satisfied by at least one embodiment of the present invention - are as follows:

An object of the present invention is to provide a warning system which continuously monitors the status of the driver.

Another object of the present invention is to provide a warning system which continuously monitors the current blind spot of the driver.

Still another object of the present invention is to provide a warning system which combines the data obtained from continuous monitoring for assessing the threat of vehicle collision.

Yet another object of the present invention is to provide a warning system which substantially reduces the number of warnings issued.

Further object of the present invention is to provide a warning system which significantly lowers the frequency of warnings generated.

Still further object of the present invention is to provide a warning system, which is convenient and comfortable for the drivers.
These and other objects and advantages of the present invention will become more apparent from the following description when read with the accompanying figures of drawing, which are, however, not intended to limit the scope of the present invention in any way.

SUMMARY OF THE INVENTION

In accordance with the present invention, there is provided an intelligent driver assistance warning system based on driver status monitoring, wherein the warning system comprises: a driver status monitoring module; a threat assessment module; and a driver assist module; wherein the driver status monitoring module and the threat assessment module forward detected data to the driver assist module for analysis and for issuing the warning type and the level of the warnings to alert the driver to avoid an imminent collision probable due to the driver’s blind spots.

Typically, the driver status monitoring module determines the current blind spot and forwards this data to driver assist module.

Typically, the threat assessment module determines the threat level of the vehicles present in the vicinity of this vehicle and forwards this data to driver assist module.

Typically, the driver assist module analyzes the data received from the driver status monitoring module and the threat assessment module to issue the warning type and level of warning for alerting the driver to avoid the collisions imminent due to the driver’s blind spots.

Typically, the driver modifies the intensity of the warnings based on his/her response.

Typically, the warnings are issued in the form of auditory and/or visual and/or haptic alerts.

In an embodiment of the present invention, the driver status monitoring module comprises:

(a) at least one in-cabin camera to detect the driver’s status;
(b) a plurality of tactile sensors on the gear-shift rod, brake pedal, accelerator pedal and steering wheel;
(c) a rear-view mirror disposed outside the vehicle on either side thereof;
(d) a position sensor disposed adjacent each rear view mirror of the vehicle;
(e) at least one rear-view mirror disposed inside the vehicle cabin; and
(f) a controller for storing the vehicle surface dimension data and comparing and/or analyzing the same with the actual data;

wherein the in-cabin camera continuously detects the direction of driver’s gaze to obtain the driver’s field of vision and to find the driver’s current blind spot by combining the driver’s field of vision with the position of rear-view mirrors and vehicle surface dimension data to be forwarded to the driver assist module.

Typically, the threat assessment module comprises:

(I) a plurality of forward facing cameras;
(II) at least one front Radar;
(III) a plurality of side Radars; and
(IV) a plurality of rear-view cameras;

wherein the outputs of the cameras and Radars are analyzed for calculating the relative velocities, range, relative acceleration and orientation of all the vehicles surrounding the subject vehicle as well as for determining the road profile, road curvature and environmental conditions and to determine the threat level of each vehicle surrounding the subject vehicle and to be forwarded to the driver assist module.

Typically, the driver assist module receives the signals forwarded by the driver status module and combines the same with the threat level assessed by the threat level assessment module to decide the type and level of warning to be issued to the driver.

In accordance with the present invention, there is also provided a method of monitoring driver’s status by using the intelligent driver assistance warning system, comprising the following method steps:

(a) Driver’s status monitoring includes:

• Detecting driver’s status data by using the in-cabin camera;
• Detecting the positional data of the tactile sensors fitted on the gear shift rod, brake pedal and accelerator pedal;
• Comparing the aforesaid data with the vehicle CAN data and the vehicle surface dimension data to determine the actual driver’s status;
• Detecting the rear-view mirror positions by means of position sensors fitted adjacent each rear-view mirror;
• Finding the actual direction of driver’s gaze by using the in-cabin camera; and
• Ascertaining the driver’s field of vision by using driver’s gaze direction, positions of the rear-view mirrors and vehicle Can data and surface dimension data processed in the controller to determine the driver’s blind spot;
• Forwarding the driver’s blind spot data to the driver assist module;

(b) Collision threat level assessment includes:

• Detecting the position of the vehicles surrounding the subject vehicle by using the forward-facing cameras, the front Radar, the plurality of side Radars; the rear-Radar and the plurality of rear-view Radars;
• Calculating the relative velocity (Vrel), relative acceleration (Arel) and orientation of all the vehicles surrounding the subject vehicle as well as the road profile and curvature along with the environmental conditions using the outputs of the forward-facing cameras, the front Radar, the plurality of side Radars; the rear-Radar and the plurality of rear-view Radars captured in the preceding step; and
• Determining the threat level of collision with each vehicle surrounding the subject vehicle and forwarding the assessed threat level to the driver assist module;

(c) Assisting the driver by:

• Receiving data and/or signals about the driver’s status, active field of vision and current blind spots detected by the Driver’s status monitoring module;
• Receiving data and/or signals about the imminent collision threat level from the threat assessment module;
• Deciding the type and the level of warning to be issued for alerting about the imminent collision threats with the surrounding vehicles by combining the aforesaid data and/or signals; and
• Modifying the intensity of the warning based on the driver’s response;

whereby the driver of the subject vehicle is facilitated to continuously avoid any imminent collisions with the surrounding vehicles by the issuance of alerts about the current blind spots in the form of audible and/or visual and/or haptic warnings.

DESCRIPTION OF THE PRESENT INVENTION

Most of the alerts are issued by the collision warning system and lane-departure system, when the driver is in full control and when fully aware of what is happening around the vehicle.

In order to assist the driver better, it is very important that such warning systems also understand the present condition or status of the driver. This can give the actual status of the line of sight and the level of alertness of the vehicle driver. This can be readily accomplished by monitoring the driver’s alertness, direction of gaze and are assessed for the perceptible threat to the vehicle in the current vehicle environment as well as in the light of driver’s current status.

Based on this monitoring, the system configured in accordance with the present invention decides as to when and how a warning should be generated for the driver’s current blind spot. Here, the term current blind spot is meant by any part of the surroundings which is not present in the driver’s field of view. For example, it may include the areas such as the cornering areas blinded to driver by A pillars, the left and/or right areas overlooked by driver during cornering/ taking turn or the side blind spots or in fact, even the area in front of the vehicle that driver is not actually looking at. Accordingly, the system configured in accordance with the present invention comprises:

• Driver Status Monitoring Module,

• Threat Assessment Module, and

• Driver-Assist Module:

1. Driver Status Monitoring Module:

The key idea is to understand the driver status through an In-cabin camera and various tactile sensors positioned on Gear shift rod, brake pedal, accelerator pedal and vehicle Controller Area Network (CAN) data. The position of rear view mirrors is found using position sensors placed near each rear view mirror.

The driver gaze direction is found using the in-cabin camera and his current field of vision is obtained using his gaze direction, position of rear view mirrors and vehicle surface dimension data.

The system basically finds the current blind spot. From the inputs of RADAR and Camera sensors, relative velocity, range, relative acceleration and orientation of all the vehicles surrounding the host vehicle are determined along with the environmental conditions and road profile.

2. Threat Assessment Module:

In this module, the threat level of each vehicle in the vicinity of host vehicle is determined and sent to the Driver-Assist Module. In fact, Threat Assessment (TA) is a function of the relative velocity between host and target vehicle (Vrel), the relative acceleration between host and target vehicle (Arel), target vehicle orientation, road curvature and the numerous environmental factors.
3. Driver-Assist Module:

Signal coming from Driver-Status Monitoring Module gives information about driver’s current status, his active field of vision and his current blind spots.

By combining this data with the threat-level, the Driver-Assist Module decides the type (Auditory/visual/haptic) and level of warning to be given to the driver by modifying the intensity based on the driver’s response.

BRIEF DESCRIPTION OF THE ACCOMPANYING DRAWINGS

The present invention will be briefly described with reference to the accompanying drawings, which include:

Figure 1 shows a top view of the vehicle equipped with a warning system corresponding to ‘0’ level driving automation configured in accordance with the present invention.

Figure 2 shows a flow chart for the warning system configured in accordance with the present invention as shown in Figure 1.

DETAILED DESCRIPTION OF THE ACCOMPANYING DRAWINGS

In the following, different embodiments of the present invention will be described in more details with reference to the accompanying drawings without limiting the scope and ambit of the present invention in any way.

Figure 1 shows a top view of the vehicle equipped with a warning system corresponding to ‘0’ level driving automation configured in accordance with the present invention. The vehicle 10 includes the system 01 consisting of an in-cabin camera 02, outside rear-view mirrors 03, 04, an inside rear-view mirror 05, a gear shift rod 06, brake pedal 07 and accelerator pedal 08 and the steering wheel 09.

Figure 2 shows a flow chart for the warning system 10 configured in accordance with the present invention as shown in Figure 1. The warning system 10 consists of a Driver Status Monitoring Module 30, a Threat Assessment Module 60 and a Driver Assist Module 90.

Driver Status Monitoring Module 30 includes at least one in-cabin camera 32, a plurality of tactile sensors 34 on the gear-shift rod, a plurality of position sensors 36, a plurality of rear view mirrors 38 providing positional data PD of these rear-view mirrors 38 to module 30. It also comprises vehicle CAN data, and vehicle surface data SD for vehicle 3D surface. Accordingly, the driver status is detected through the In-cabin camera 32 and the tactile sensors 34 positioned, e.g. on the gear shift rod, brake pedal, accelerator pedal and vehicle CAN data. The position of rear view mirrors 38 is found using the plurality of position sensors 36 placed near each rear view mirror.
The driver’s gaze direction is found using the in-cabin camera 32 and his current field of vision is obtained using his gaze direction, position of rear view mirrors 38 and vehicle surface dimension data SD. The Driver Status Monitoring 30 basically finds the current blind spot and forwards the relevant data to the Driver Assist Module 90.

Threat Assessment Module 60 includes a plurality of forward facing cameras 62, at least one front RADAR 64, a plurality of side RADARs 66, at least one rear RADAR 68 and a plurality of rear-view cameras 70. The relative velocity (Vrel), range R, relative acceleration (Arel) and orientation of all the vehicles surrounding the host vehicle 10 and road profile e.g. road curvature along with the environmental conditions is determined from the inputs of RADARs 64, 66 68 and the sensors of cameras 62, 70. From this captured data, the Threat assessment module 60 determines the threat level of each vehicle in the vicinity of host vehicle 10 and forwards the assessment results to the Driver Assist Module 90.

Driver Assist Module 90 receives the signals forwarded by the Driver Status Monitoring Module 30 to provide information about the current status, active field of vision and current blind spots of the driver as captured by it. This data received from the Driver Status Monitoring Module 30 is combined with the data captured by the threat level assessed by the Threat Assessment Module 60 and the Driver Assist Module 90 decides the type (Auditory/visual/haptic) and level of warnings 100 to be issued to the driver by modifying the intensity based on the driver’s response.

Therefore, the warning system as described above and configured in accordance with the present invention drastically reduces the number of warnings being issued and also lowers the frequency of warnings 100 generated by a Driver Assistant System 90 by considering the status and current blind spot of the driver obtained from the Driver Status Monitoring 30 along with threat level assessment conducted by the Threat Assessment Module 60.

This new warning system also favours comfort level of the driver due to limited warnings issued and thereby, completely eliminates the earlier observed practice and temptation of the drivers of turning off the warning system, particularly in congested urban driving space.

TECHNICAL ADVANTAGES AND ECONOMIC SIGNIFICANCE

The intelligent driver assistance warning system configured in accordance with the present invention has the following advantages:

• Monitors the status of the driver.

• Monitors the current blind spot of the driver.

• Monitors the status and current blind spot of the driver along with threat assessment in order to:

(I) Reducing the number of warnings issued substantially, and

(II) Lowering frequency of warnings generated by Driver-Assist System.

The foregoing description of the specific embodiments will so fully reveal the general nature of the embodiments herein that others can, by applying current knowledge, readily modify and/or adapt for various applications such specific embodiments without departing from the generic concept, and, therefore, such adaptations and modifications should and are intended to be comprehended within the meaning and range of equivalents of the disclosed embodiments.

The description provided herein is purely by way of example and illustration. The various features and advantageous details are explained with reference to this non-limiting embodiment in the above description in accordance with the present invention. The descriptions of well-known components and manufacturing and processing techniques are consciously omitted in this specification, so as not to unnecessarily obscure the specification.

It is to be understood that the phraseology or terminology employed herein is for the purpose of description and not of limitation. Therefore, while the embodiments herein have been described in terms of preferred embodiments, the skilled person will recognize that the embodiments herein can be practiced with modification within the spirit and scope of the embodiments described herein.

The skilled person and can easily make innumerable changes, variations, modifications, alterations and/or integrations in terms of materials and method used to configure, manufacture and assemble various constituents, components, subassemblies, assemblies and in terms of the size, shapes, orientations and interrelationships without departing from the scope and spirit of the present invention.

The numerical values given of various physical parameters, dimensions and quantities are only approximate values and it is envisaged that the values higher or lower than the numerical value assigned to the physical parameters, dimensions and quantities fall within the scope of the disclosure unless there is a statement in the specification to the contrary.

Throughout this specification, the word “comprise”, or variations such as “comprises” or “comprising”, shall be understood to implies including a described element, integer or method step, or group of elements, integers or method steps, however, does not imply excluding any other element, integer or step, or group of elements, integers or method steps.

The use of the expression “a”, “at least” or “at least one” shall imply using one or more elements or ingredients or quantities, as used in the embodiment of the disclosure in order to achieve one or more of the intended objects or results of the present invention. ,CLAIMS:We claim:

1. An intelligent driver assistance warning system based on driver status monitoring, wherein the warning system comprises: a driver status monitoring module; a threat assessment module; and a driver assist module; wherein the driver status monitoring module and the threat assessment module forward detected data to the driver assist module for analysis and for issuing the warning type and the level of the warnings to alert the driver to avoid an imminent collision probable due to the driver’s blind spots.

2. An intelligent driver assistance warning system as claimed in claim 1, wherein the driver status monitoring module determines the current blind spot and forwards this data to driver assist module.

3. An intelligent driver assistance warning system as claimed in claim 1, wherein the threat assessment module determines the threat level of the vehicles present in the vicinity of this vehicle and forwards this data to driver assist module.

4. An intelligent driver assistance warning system as claimed in claim 1, wherein the driver assist module analyzes the data received from the driver status monitoring module and the threat assessment module to issue the warning type and level of warning for alerting the driver to avoid the collisions imminent due to the driver’s blind spots.

5. An intelligent driver assistance warning system as claimed in claim 4, wherein the driver modifies the intensity of the warnings based on his/her response.

6. An intelligent driver assistance warning system as claimed in claim 5, wherein the warnings are issued in the form of auditory and/or visual and/or haptic alerts.

7. Intelligent driver assistance warning system as claimed in claim 2, wherein the driver status monitoring module comprises:

(g) at least one in-cabin camera to detect the driver’s status;
(h) a plurality of tactile sensors on the gear-shift rod, brake pedal, accelerator pedal and steering wheel;
(i) a rear-view mirror disposed outside the vehicle on either side thereof;
(j) a position sensor disposed adjacent each rear view mirror of the vehicle;
(k) at least one rear-view mirror disposed inside the vehicle cabin; and
(l) a controller for storing the vehicle surface dimension data and comparing and/or analyzing the same with the actual data;

wherein the in-cabin camera continuously detects the direction of driver’s gaze to obtain the driver’s field of vision and to find the driver’s current blind spot by combining the driver’s field of vision with the position of rear-view mirrors and vehicle surface dimension data to be forwarded to the driver assist module.

8. Intelligent driver assistance warning system as claimed in claim 3, wherein the threat assessment module comprises:

(V) a plurality of forward facing cameras;
(VI) at least one front Radar;
(VII) a plurality of side Radars; and
(VIII) a plurality of rear-view cameras;

wherein the outputs of the cameras and Radars are analyzed for calculating the relative velocities, range, relative acceleration and orientation of all the vehicles surrounding the subject vehicle as well as for determining the road profile, road curvature and environmental conditions and to determine the threat level of each vehicle surrounding the subject vehicle and to be forwarded to the driver assist module.

9. Intelligent driver assistance warning system as claimed in anyone of the claims 4 to 6, wherein the driver assist module receives the signals forwarded by the driver status module and combines the same with the threat level assessed by the threat level assessment module to decide the type and level of warning to be issued to the driver.
10. A method of monitoring driver’s status by using the intelligent driver assistance warning system as claimed in anyone of the claims 1 to 9, wherein the method comprises the following method steps:

(d) Driver’s status monitoring includes:

• Detecting driver’s status data by using the in-cabin camera;
• Detecting the positional data of the tactile sensors fitted on the gear shift rod, brake pedal and accelerator pedal;
• Comparing the aforesaid data with the vehicle CAN data and the vehicle surface dimension data to determine the actual driver’s status;
• Detecting the rear-view mirror positions by means of position sensors fitted adjacent each rear-view mirror;
• Finding the actual direction of driver’s gaze by using the in-cabin camera; and
• Ascertaining the driver’s field of vision by using driver’s gaze direction, positions of the rear-view mirrors and vehicle Can data and surface dimension data processed in the controller to determine the driver’s blind spot;
• Forwarding the driver’s blind spot data to the driver assist module;

(e) Collision threat level assessment includes:

• Detecting the position of the vehicles surrounding the subject vehicle by using the forward-facing cameras, the front Radar, the plurality of side Radars; the rear-Radar and the plurality of rear-view Radars;
• Calculating the relative velocity (Vrel), relative acceleration (Arel) and orientation of all the vehicles surrounding the subject vehicle as well as the road profile and curvature along with the environmental conditions using the outputs of the forward-facing cameras, the front Radar, the plurality of side Radars; the rear-Radar and the plurality of rear-view Radars captured in the preceding step; and
• Determining the threat level of collision with each vehicle surrounding the subject vehicle and forwarding the assessed threat level to the driver assist module;

(f) Assisting the driver by:

• Receiving data and/or signals about the driver’s status, active field of vision and current blind spots detected by the Driver’s status monitoring module;
• Receiving data and/or signals about the imminent collision threat level from the threat assessment module;
• Deciding the type and the level of warning to be issued for alerting about the imminent collision threats with the surrounding vehicles by combining the aforesaid data and/or signals; and
• Modifying the intensity of the warning based on the driver’s response;

whereby the driver of the subject vehicle is facilitated to continuously avoid any imminent collisions with the surrounding vehicles by the issuance of alerts about the current blind spots in the form of audible and/or visual and/or haptic warnings.

Dated: this day of 28th June, 2016. SANJAY KESHARWANI
APPLICANT’S PATENT AGENT