WO2007097689A1

WO2007097689A1 - A vehicle safety syystem

Info

Publication number: WO2007097689A1
Application number: PCT/SE2007/000151
Authority: WO
Inventors: Andreas Bergvall; Jan Odenmo
Original assignee: Autoliv Development Ab
Priority date: 2006-02-27
Filing date: 2007-02-21
Publication date: 2007-08-30
Also published as: GB2435536A; GB0603883D0

Abstract

A safety system for a vehicle, comprising: a communication system operable to send and receive communication signals; a positioning system operable to determine the position of the vehicle; a crash detection arrangement operable to provide a determination that the vehicle has been involved in a crash; and a processor operable: during normal driving of the vehicle, to receive and evaluate information relating to a dangerous event occurring, and in response to the fulfilment of one or more predetermined criteria to generate a command signal to mitigate the danger of the event; and after a determination by the crash detection arrangement that the vehicle has been involved in a crash, to send an emergency message using the communication system, the emergency message including at least the position of the vehicle as determined by the positioning system.

Description

A Vehicle Safety System"

Description of Invention

THIS INVENTION relates to a vehicle safety system, and in particular concerns an advantageous vehicle safety system comprising an on-board positioning system (such as GPS) and an on-board communication system (for example a GSM telephone or WLAN connection).

Many modern vehicles are equipped with a positioning system, which for instance may use the global positioning system (GPS). Such a system may provide an accurate determination of the vehicle's position on the Earth's surface. Information regarding the roads in the vicinity of the vehicle, as well as additional information such as the speed limit on each road and the location of potential hazards (e.g. traffic lights) can also be communicated to the vehicle via a communication system, such as a GMS telephone or a short range communication system such as a WLAN (wireless local area network) connection. This information can be combined with the information from the positioning system to provide a navigation system, which may present accurate information to the driver of the vehicle concerning the vehicle's whereabouts, thereby assisting the driver to navigate correctly to the intended destination.

The navigation system may also be used in determining possible risk to an occupant of the vehicle, for instance if the navigation system indicates that the vehicle is travelling on a road having a set speed limit and that the speed of the vehicle is significantly in excess of the speed limit, or that the vehicle is about to arrive at a point where the speed limit decreases. The communication and positioning systems may also be used for other functions, such as the tracing of stolen vehicles, in which, when a certain signal is sent to the vehicle via the communication system, the communication system transmits a return signal which includes the position of the vehicle as determined by the positioning system. The communication system may also be operable to send a break-down or emergency signal via the communication system when it is determined that the vehicle has broken down or has been involved in a crash, and this message will include at least the position of the vehicle, and may additionally include further information to assist the break- down or emergency services in determining the nature of the break-down or crash.

Many vehicles are also provided with safety systems that can be activated in situations where it is determined that the likelihood of a crash or other accident occurring is relatively high, for instance if a radar system indicates that the vehicle is rapidly approaching another object, if an accelerometer or gyroscope indicates that the rate of rotation of the vehicle about the yaw axis exceeds a predetermined rate, or if it is determined that the vehicle is skidding. In response to such a determination being made, a reversible seat belt pretensioner may be activated, a warning may be given to the driver, or emergency automatic braking of the vehicle may be initiated. Alternatively, a crash detector of the vehicle may make a determination (from similar or other information) that a crash cannot be avoided, or is actually occurring. In response to such a determination being made, safety devices (which may be non-reversible) such as one or more air-bags or a bonnet lifter may be activated.

For these purposes, a crash or other accident may involve hitting a fixed or heavy object, or another vehicle, but could also include events such as roll- overs or striking a pedestrian. It is an object of the present invention to provide an improved vehicle safety system for vehicles having some or all of the above features.

Accordingly, one aspect of the present invention provides a safety system for a vehicle, comprising: a communication system operable to send and receive communication signals; a positioning system operable to determine the position of the vehicle; and a crash detection arrangement operable to provide a determination that the vehicle has been involved in a crash, characterised by a processor operable: during normal driving of the vehicle, to receive and evaluate information relating to a dangerous event occurring, and in response to the fulfilment of one or more predetermined criteria to generate a command signal to mitigate the danger of the event; and after a determination by the crash detection arrangement that the vehicle has been involved in a crash, to send an emergency message using the communication system, the emergency message including at least the position of the vehicle as determined by the positioning system.

Advantageously, the communication system comprises a telephone system or a short range communication system, and is operable to send and receive communication signals between the vehicle and a communications network.

Preferably, the communication system comprises a transceiver operable to send and receive communication signals between the vehicle and local objects or other vehicles.

Conveniently, the safety system further comprises a map memory operable to store map information relating to the surroundings of the vehicle.

Advantageously, the criteria include the vehicle's speed exceeding the speed limit or being more than a predetermined threshold above the speed limit of a road on which the vehicle is travelling. Preferably, the criteria include the vehicle being shortly to arrive at a section of road on which the speed limit is lower than the section of road on which the vehicle is currently travelling.

Conveniently, the criteria include the vehicle being shortly to arrive at a potential hazard.

Advantageously, the criteria include the vehicle being shortly to encounter a curved section of road, and the speed of the vehicle exceeding a recommended maximum speed for the curved section of road.

Preferably, the recommended maximum speed for the curved section of road is calculated from at least the degree of curvature of the road.

Conveniently, the recommended maximum speed for the curved section of road is calculated using at least one of: current weather conditions, measured friction between the tyres of the vehicle and the road, and one or more properties of the vehicle.

Advantageously, the criteria include the vehicle being shortly to reach a traffic signal which indicates that the vehicle must stop, will shortly indicate that the vehicle must stop, or is malfunctioning.

Preferably, the criteria include that, from the speed, acceleration or direction of travel of the vehicle, the vehicle is likely to be involved in a crash.

Conveniently, the criteria include the detection by the vehicle of the position and movement of another defect relative to the vehicle that is to be involved in a collision with the vehicle. Advantageously, the criteria include the determination through the transceiver, of the position and movement of another object relative to the vehicle that is likely to be involved in a collision with the vehicle.

Preferably, in response to the command signal, a visual, audible and/or haptic warning is provided to a driver of the vehicle.

Conveniently, the command signal leads to the initiation of automatic braking of the vehicle.

Advantageously, the command signal causes one or more safety devices to be activated.

Preferably, the command signal causes the modification of a crash algorithm of the vehicle, the crash algorithm determining the response of the vehicle to a determination of a crash or that a crash is imminent.

Conveniently, upon a determination being made of a crash or that a crash is imminent, other processor functions are over-ridden in favour of implementing a crash algorithm.

Advantageously, at least some of the processing capacity required for the operation of the positioning system is provided by the processor.

Another aspect of the present invention provides a vehicle incorporating a safety system according to any preceding claim.

In order that the present invention may be more readily understood, embodiments thereof will now be described, by way of example, with reference to the accompanying drawings, in which: Figure 1 is a schematic view of components of a vehicle that may be used in one or both of the preparation and sending of an emergency message, or the evaluation of the risk of a dangerous event occurring;

Figure 2 is a schematic view of components of a vehicle that may be used for one or both of the preparation and sending of an emergency message and the determination that the vehicle is, will be or is likely to be involved in a crash situation; and

Figure 3 is a schematic view of components of a vehicle system that may be used in any or all of the preparation and sending of an emergency signal, the evaluation of the risk of a dangerous even occurring, and determination that the vehicle is, will be or is likely to be involved in a crash situation.

Referring firstly to Figure 1 , a schematic view is shown of components of a vehicle safety system that is able to evaluate information relating to the risk of a dangerous event occurring, and also to prepare and transmit an emergency message after a crash has occurred. The components are designated schematically by boxes, and the type of line surrounding each box indicates the functions for which the component in question may be used, as will be explained below in more detail. In addition, the largest box designates vehicle components that are on-board (i.e. within the largest box) and those components which are external to the vehicle (those outside the largest box).

The safety system 1 comprises a processor 2, which is preferably a microprocessor and which may take any suitable form. It is envisaged that the processor 2 may be a single processor unit or may comprise a group or array of individual processor units, and is not restricted to being a single integrated circuit. The processor 2 has direct connections to certain vehicle components (such as accelerometers and a radar), and is preferably also (as is known) connected to the CAN bus, which carries information regarding other vehicle components (such as the speed of the vehicle, or the rotational rate of individual wheels of the vehicle).

Further hardware 3 is provided to support the processor 2 and allow the processor 2 to carry out its functions, and this further hardware 3 may, for instance, comprise memory (such as RAM memory) and a power supply. A map memory 3a is preferably also provided to store map information, as will be discussed below in greater detail.

The safety system 1 further comprises a positioning system, and in the depicted embodiment the positioning system comprises a GPS system 4. It will be understood that the GPS system 4 communicates with a series of satellites to allow the GPS system 4 to determine its position on the Earth's surface. The GPS system 4 is provided with a "dead reckoning" system 5, which allows the GPS system 4 to continue at least temporarily to monitor the position of the vehicle when contact with the satellites has been lost to the extent that it is no longer possible to determine the vehicle's position from the information received from the satellites. The GPS system 4 may cooperate with the information provided in the map memory 3a to determine the position of the vehicle with respect to local roads and other features. Processing capacity needed for the GPS and dead reckoning systems 4,5 may preferably be provided by the processor 2.

The safety system 1 further comprises a communication system comprising, for example, a GSM telephone transceiver 6 (as in the depicted embodiment) or a WLAN connection. The telephone transceiver 6 communicates with an external telephone network 7 allowing the telephone transceiver 6 to communicate, for example, with an emergency centre 8, or with other data networks (e.g. the Internet) that can provide information relevant to the driving of the vehicle. For instance, the telephone network 7 may allow access to a traffic light status server 9, which provides the location and status of traffic lights or other automated traffic signals in the vicinity of the vehicle, a traffic information server 10, which provides information regarding the level of traffic present on roads in the vicinity of the vehicle, and any delays or queues that may affect the vehicle, a speed limit server 11 which provides information regarding the speed limit on some or all of the roads in the vicinity of the vehicle, or a map update server 12, which is able to provide updated map information, for instance if the vehicle enters an area for which map information is not already stored by the map memory 3a.

The safety system 1 further comprises, or has connections to, one or more vehicles speed sensors 13 and acceleration sensors 14, which provide information regarding the current speed and acceleration of the vehicle. Radar and vision sensors 15,16 may also be provided, which are able to detect the presence of objects in the vicinity of the vehicle, as well as properties such as the speed and bearing of such objects relative to the vehicle.

The safety system 1 may further comprise, or have a connection to, a short range transceiver 17, which is able to communicate with nearby objects. For instance, a road side transponder 18 may be provided as part of a traffic light system, and may transmit to the vehicle the status of the traffic light system (e.g. whether the light is at green or red, or is malfunctioning). The short range transceiver 17 may also be able to communicate with similar short range transceivers on board other nearby vehicles 19, such that the distance and relative velocity between the two vehicles may be established.

The processor 2 is operable to receive and evaluate information from the various components of the safety system or other vehicle systems to determine a risk of a dangerous event occurring. At least one criterion (referred to hereafter as a risk criterion) is predetermined, with action being taken if the risk criterion is fulfilled. For instance, the processor 2 may determine from the speed sensors 13 and the data held on the map memory 3a that the vehicle is travelling at a speed greater than the speed limit of the road, that the vehicle is rapidly approaching traffic lights which are set to red or are malfunctioning, or that the vehicle is rapidly approaching a traffic jam.

The processor 2 may also determine that the vehicle is on, or will shortly encounter, a curved section of road, and that the speed of the vehicle exceeds a recommended maximum speed for that curved section of road. The recommended maximum speed may be provided by an external source (e.g. an appropriate database), or may alternatively be calculated by the processor, taking into account the degree of curvature of the road (either derived from an external source or detected by the vehicle), as well as factors such as current or recent weather information, the measured friction between the road and the tyres of the vehicle, and other vehicle properties, such as the weight of the vehicle and the position of the centre of gravity thereof.

The processor 2 may also determine, from the radar or vision sensors 15,16, that the vehicle is close to another object, or determine from the acceleration sensors 14 that the vehicle is skidding, or that the rate of rotation of the vehicle around the yaw axis is above a predetermined threshold. As a further alternative, the processor 2 may determine, from the speed of individual wheels of the vehicle, that the vehicle is in a skid situation.

If the processor 2 determines, using the above or any other methods, that the risk criterion has been fulfilled and hence that there is a significant risk of a dangerous event occurring, the processor 2 will generate a command signal to instruct one or more components of the vehicle safety system 1 or other vehicle system to take action to mitigate the danger of the event to an occupant of the vehicle. For instance, a driver warning interface 20 may be provided, which provides an audible visual and/or haptic signal to the driver that a dangerous event is likely to occur, and hence provide the driver with an opportunity to take action to avoid the risk, for example by reducing the vehicle's speed.

Alternatively, the vehicle may be provided with an emergency braking system 21 , which can be activated automatically by the processor 2. If the processor 2 determines that immediate braking is required to avoid a dangerous event, then the processor 2 may activate the emergency braking system 21 immediately. Preferably, an audible, visible and/or haptic signal will also be provided to the driver when this occurs.

The safety system 1 is also provided with, or has a connection to, a crash detector 22b and crash protection devices 22a (such as air-bags and seat belt pretensioners, as will be known to the skilled reader). If the crash detector 22b determines (from a crash algorithm or one or more crash criteria) that a crash seems to be unavoidable, for instance if the signal from the radar or vision sensors 15,16 indicate that the vehicle is heading towards another object and it is unlikely that the vehicle will be able to take appropriate evasive action, or that the vehicle is actually involved in a crash situation, for instance if the signals from the acceleration sensors 14 indicate a dangerous crash, the crash detector 22b may instruct the crash protection devices 22a to take appropriate action. This may involve the activation of one or more air-bag modules, a reversible seat belt pretensioner, or a bonnet lifter, and it will be understood that the action taken will depend on the information received. Indeed, the processor 2 may be operable to adapt the vehicle's crash algorithm (i.e. the action taken when a crash seems to be imminent or likely) in response to fulfilment of one or more risk criteria.

The acceleration, radar and vision sensors 14,15,16, some or all of whose signals are used for carrying out the crash algorithm, may also be connected directly to the crash detector 22b (not shown). After a crash or other dangerous accident has been detected by the crash detector 22b, the crash detector 22b will provide an indication to the processor 2 that the vehicle has been involved in a crash situation, the processor 2 is operable to send, via the telephone transceiver 6 to the telephone network 7, an emergency message, which is to be relayed to the emergency centre 8. The emergency message comprises information at least regarding the position of the vehicle, as determined by the GPS system 4. The emergency message may also contain supplemental information which will be of assistance in determining the type of crash that has occurred, for instance identification of the particular crash sensors that have been triggered or of the on-board safety systems which have been activated, and recorded information regarding the speed, position, acceleration, nearby objects detected and the like during a time period immediately preceding the crash. Information regarding the number of occupants in the vehicle may also be included. For this purpose, a memory (for instance provided among the further hardware 3) may during normal driving store information relating to a pre-determined period (for example the most recent 10 or 20 seconds), with the oldest information being regularly deleted to make room for the latest information. When it is determined that the vehicle has been involved in a crash situation, this information, or selected portions thereof, may be transmitted as part of the emergency message.

It is envisaged that, when the processor 2 requires the telephone transceiver 6 to obtain updated information or to send an emergency message, this will over-ride other functions requiring the telephone transceiver 6, such as making telephone calls, stolen vehicle tracing or break-down reporting, and these other functions will be temporarily blocked.

It will be understood that the determination of possible risk during normal driving, and the implementation of a crash algorithm to protect a vehicle occupant during a crash, will only take place before it is determined that the vehicle has been involved in a crash or before the crash has finished occurring. It will also be appreciated that the preparation and sending of the emergency message will only take place after it has been determined that the vehicle has been involved in a crash. In embodiments of the present invention, the processor 2 is operable to perform the evaluation of risk and/or the implementation of a crash algorithm before it is determined that that the vehicle has been involved in a crash, and the same processor 2 is operable to prepare and send the emergency message after it has been determined that the vehicle has been involved in a crash. In this way, the functions required of the processor 2 can never overlap, and there is no conflict in assigning the same processor 2 to carry out these tasks. The number of on-board processors that are required for the vehicle may therefore be reduced by at least one, thereby reducing the cost and complexity of the vehicle systems, and improving the reliability of the vehicle (since any component carries some risk of malfunction or failure).

In some embodiments of the invention, the processor 2 may be assigned to carry out evaluation of the risk of a dangerous event occurring before it is determined that a crash has occurred, and to prepare and send the emergency message after this determination has been made. Alternatively, the processor 2 may be assigned to implement the crash algorithm before it is determined that a crash has occurred, and to prepare and send the emergency message after this determination has been made. In further embodiments, the processor 2 may be assigned to carry out all of these tasks, and in such embodiments it is envisaged that, when it is determined that the vehicle is likely to be involved in a crash, the implementation of the crash algorithm takes precedence over the risk evaluation function.

With reference to the type of lines that define the boxes shown in Figure 1 , boxes drawn with dashed lines are used only for the evaluation of risk of a dangerous event occurring, while boxes drawn with thin lines are used only for the preparation and transmission of the emergency message. Boxes drawn with thick lines may be used for both of these tasks, and it will be appreciated that the processor 2 is among these "common" components.

Boxes with thick dashed lines are primarily used for evaluation of risk, but may also be used in the preparation and transmission of the emergency message, for instance if signals received by the short range transceiver 17 are stored and then transmitted as part of the emergency message.

With reference to Figure 2, components of the vehicle safety system 1 described in relation to Figure 1 are shown which may be used in the preparation and transmission of an emergency signal, and in the implementation of a crash algorithm to protect an occupant of the vehicle. In this embodiment, the functions of the crash detector are handled by the processor 2. In Figure 2, boxes drawn in thin lines are used only for the preparation and transmission of the emergency signal. Boxes drawn in dashed lines are used only for crash detection and implementation of the crash algorithm, and boxes drawn in thick lines may be used for both tasks. Once again, it will be noted that the processor 2 is included in the components that may be used for both tasks, and so the processor 2 is used both for crash detection and for the preparation and transmission of the emergency message.

With reference to Figure 3, a "Venn'-style diagram is shown indicating the components that are used in a system which is able to perform evaluation of risk of a dangerous event occurring (these components within a first box 23), crash detection and implementation of a crash algorithm (these components within a second box 24), and also the preparation and sending of an emergency message (these components within a third box 25) It will again be noted that the processor 2 is common to all of these processes. It will be appreciated that embodiments of the present invention may provide all of the above-described functions, while reducing cost and complexity and increasing the reliability of a vehicle on which the system is installed.

When used in this specification and claims, the terms "comprises" and "comprising" and variations thereof mean that the specified features, steps or integers are included. The terms are not to be interpreted to exclude the presence of other features, steps or components.

Claims

CLAIMS:

1. A safety system (1 ) for a vehicle, comprising: a communication system (6) operable to send and receive communication signals; a positioning system (4) operable to determine the position of the vehicle; and a crash detection arrangement (22b) operable to provide a determination that the vehicle has been involved in a crash; characterised by a processor (2) operable: during normal driving of the vehicle, to receive and evaluate information relating to a dangerous event occurring, and in response to the fulfilment of one or more predetermined criteria to generate a command signal to mitigate the danger of the event; and after a determination by the crash detection arrangement (22b) that the vehicle has been involved in a crash, to send an emergency message using the communication system (6), the emergency message including at least the position of the vehicle as determined by the positioning system (4).

2. A safety system (1) according to Claim 1 wherein the communication system (6) comprises a telephone system or a short range communication system, and is operable to send and receive communication signals between the vehicle and a communications network (7).

3. A safety system (1) according to Claim 1 or 2 wherein the communication system (6) comprises a transceiver (6) operable to send and receive communication signals between the vehicle and local objects or other vehicles.

4. A safety system (1 ) according to any preceding claim, further comprising a map memory (3a) operable to store map information relating to the surroundings of the vehicle.

5. A safety system (1) according to Claim 4 wherein the criteria include the vehicle's speed exceeding the speed limit or being more than a predetermined threshold above the speed limit of a road on which the vehicle is travelling.

6. A safety system (1) according to Claim 4 or 5 wherein the criteria include the vehicle being shortly to arrive at a section of road on which the speed limit is lower than the section of road on which the vehicle is currently travelling.

7. A safety system (1) according to any one of Claims 4 to 6 wherein the criteria include the vehicle being shortly to arrive at a potential hazard.

8. A safety system (1) according to any one of Claims 4 to 7 wherein the criteria include the vehicle being shortly to encounter a curved section of road, and the speed of the vehicle exceeding a recommended maximum speed for the curved section of road.

9. A safety system (1) according to Claim 8, wherein the recommended maximum speed for the curved section of road is calculated from at least the degree of curvature of the road.

10. A safety system (1) according to Claim 9, wherein the recommended maximum speed for the curved section of road is calculated using at least one of: current weather conditions, measured friction between the tyres of the vehicle and the road, and one or more properties of the vehicle.

11. A safety system (1 ) according to any one of Claims 4 to 10 wherein the criteria include the vehicle being shortly to reach a traffic signal which indicates that the vehicle must stop, will shortly indicate that the vehicle must stop, or is malfunctioning.

12. A safety system (1) according to any preceding claim wherein the criteria include that, from the speed, acceleration or direction of travel of the vehicle, the vehicle is likely to be involved in a crash.

13. A safety system (1 ) according to any one of Claims 4 to 12, wherein the criteria include the detection by the vehicle of the position and movement of another defect relative to the vehicle that is to be involved in a collision with the vehicle.

14. A safety system (1 ) according to Claim 3, wherein the criteria include the determination through the transceiver (6), of the position and movement of another object relative to the vehicle that is likely to be involved in a collision with the vehicle.

15. A safety system (1) according to any preceding claim wherein, in response to the command signal, a visual, audible and/or haptic warning is provided to a driver of the vehicle.

16. A safety system (1) according to any preceding claim wherein the command signal leads to the initiation of automatic braking of the vehicle.

17. A safety system (1) according to any preceding claim wherein the command signal causes one or more safety devices to be activated.

18. A safety system (1 ) according to any preceding claim wherein the command signal causes the modification of a crash algorithm of the vehicle, the crash algorithm determining the response of the vehicle to a determination of a crash or that a crash is imminent.

19. A safety system (1) according to any preceding claim wherein, upon a determination being made of a crash or that a crash is imminent, other processor functions are over-ridden in favour of implementing a crash algorithm.

20. A safety system (1) according to any preceding claim, wherein at least some of the processing capacity required for the operation of the positioning system (4) is provided by the processor (2).

21. A vehicle incorporating a safety (1) system according to any preceding claim.