U.S. patent application number 14/658532 was filed with the patent office on 2016-09-22 for safety pedal obstruction and command intention detection.
The applicant listed for this patent is Ford Global Technologies, LLC. Invention is credited to Mark Allan Lippman.
Application Number | 20160275795 14/658532 |
Document ID | / |
Family ID | 56853275 |
Filed Date | 2016-09-22 |
United States Patent
Application |
20160275795 |
Kind Code |
A1 |
Lippman; Mark Allan |
September 22, 2016 |
Safety Pedal Obstruction and Command Intention Detection
Abstract
A vehicle includes a footwell object detection sensor to detect
objects in the footwell. The footwell object detection sensor
includes an object detection sensor and a controller. The object
detection sensor outputs data indicative of a state of the footwell
that includes a plurality of pedals. The controller is programmed
to, in response to a difference between the data and stored data
corresponding to reference states of the footwell being indicative
of a presence of an object that inhibits actuation of one or more
of the pedals, output a warning signal. The controller may output a
pedal status of each of the pedals based on a comparison between
the data and the stored data. Controller outputs can be used to
confirm or invalidate pedal position signals used by other control
systems in the vehicle.
Inventors: |
Lippman; Mark Allan; (New
Baltimore, MI) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Ford Global Technologies, LLC |
Dearborn |
MI |
US |
|
|
Family ID: |
56853275 |
Appl. No.: |
14/658532 |
Filed: |
March 16, 2015 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B60T 7/22 20130101; H04N
7/18 20130101; B60T 17/18 20130101; B60T 17/22 20130101; G08G 1/161
20130101; G08G 1/165 20130101; G08G 1/166 20130101; B60T 2201/022
20130101; G06K 9/00832 20130101; B60T 7/12 20130101; B60T 7/042
20130101 |
International
Class: |
G08G 1/16 20060101
G08G001/16; H04N 7/18 20060101 H04N007/18; B60T 7/12 20060101
B60T007/12 |
Claims
1. A vehicle comprising: a driver-side footwell including a
plurality of pedals; a sensor configured to capture an image of the
driver-side footwell; and at least one controller programmed to, in
response to a difference between the image and reference images of
the footwell being indicative of a presence of an object in the
footwell that inhibits actuation of one or more of the pedals,
output a warning signal.
2. The vehicle of claim 1 wherein the reference images represent a
plurality of captured images associated with arrangements of a
driver's feet in relation to the pedals in an absence of objects in
the footwell that inhibit actuation of one or more of the
pedals.
3. The vehicle of claim 1 wherein the sensor is a digital camera, a
video camera, a laser-based sensor, a radar sensor, a sonar sensor,
or a night-vision camera.
4. The vehicle of claim 1 wherein the warning signal is one or more
of an audible alarm, a visual indicator and a tactile
indicator.
5. The vehicle of claim 1 wherein the at least one controller is
further programmed to receive pedal position data of the pedals,
and in response to a difference between the image and the reference
image associated with the pedal position data being indicative of
an unintended pedal application, output the warning signal.
6. The vehicle of claim 1 wherein the at least one controller is
further programmed to output a pedal status for each of the pedals
based on a comparison between the image and the reference
images.
7. The vehicle of claim 6 further comprising a collision avoidance
system that is configured to receive the pedal status and, in
response to the pedal status being different than an expected pedal
status, output a crash avoidance warning.
8. The vehicle of claim 7 wherein the collision avoidance system is
further configured to, in response to the pedal status being
different than the expected pedal status and a target object being
less than a predetermined distance from the vehicle, request a
brake application to reduce vehicle speed to avoid a collision with
the target object.
9. The vehicle of claim 1 further comprising a collision avoidance
system that is configured to, in response to the warning signal,
increase a distance from a target object at which to generate a
collision warning indication.
10. A footwell object detection system comprising: a sensor
configured to output image data indicative of a state of a
driver-side footwell that includes a plurality of pedals; and at
least one controller programmed to, in response to differences
between the image data and stored image data corresponding to
reference states of the footwell being indicative of a presence of
an object that inhibits actuation of one or more of the pedals,
output a warning signal.
11. The footwell object detection system of claim 10 wherein the
sensor is a digital camera, a video camera, a laser-based sensor, a
radar sensor, a sonar sensor, or a night-vision camera.
12. The footwell object detection system of claim 10 wherein the
warning signal is one or more of an audible alarm, a visual
indicator, and a tactile indicator.
13. (canceled)
14. The footwell object detection system of claim 10 wherein the
stored image data corresponds to reference states that represent a
plurality of states associated with arrangements of a driver's feet
in relation to the pedals in an absence of objects in the footwell
that inhibit actuation of one or more of the pedals.
15. The footwell object detection system of claim 10 wherein the at
least one controller is further programmed to output a pedal status
for each of the pedals based on a comparison between the image data
and the stored image data.
16. A method for detecting objects in a driver-side footwell of a
vehicle, the method comprising: capturing, by at least one
controller, an image of the footwell including a plurality of
pedals; and outputting, by the at least one controller, a warning
indication in response to a difference between the image and
reference images of the footwell being indicative of a presence of
an object that inhibits actuation of one or more of the pedals.
17. The method of claim 16 further comprising increasing, by the at
least one controller, a distance from a target object at which a
collision avoidance system applies brakes to reduce vehicle
speed.
18. The method of claim 16 further comprising increasing, by the at
least one controller, a distance from a target object at which a
collision avoidance system generates a collision warning
indication.
19. The method of claim 16 further comprising outputting, by the at
least one controller, a pedal status for each of the pedals based
on a comparison between the image and the reference images.
20. The method of claim 16 further comprising outputting, by the at
least one controller, the warning indication in response to a
difference between the image and the reference image associated
with vehicle acceleration data being indicative of an unintended
pedal application.
Description
TECHNICAL FIELD
[0001] This application relates generally to detecting obstructed
control pedals in a vehicle.
BACKGROUND
[0002] In a typical vehicle, acceleration and deceleration of the
vehicle are controlled by foot pedals. A driver adjusts the amount
of acceleration or deceleration by pressing on the appropriate foot
pedal. The foot pedals can control acceleration and deceleration by
a mechanical linkage to the braking or throttle control system. The
foot pedals may include an electrical output that indicates the
position of the pedal. The electrical output can be used by an
electronic module to control the acceleration and deceleration of
the vehicle. The foot pedals operate to indicate the driver's
intent to the acceleration and deceleration control systems.
However, there are situations in which the driver's intent cannot
be accurately known. There are situations in which unintended
objects interfere with the foot pedals. This interference inhibits
the ability to provide the driver's intent to the control systems.
Objects in a footwell near the foot pedals can cause unexpected
operation of the vehicle. For example, an object (e.g., floor mat)
may rest on a foot pedal causing a foot pedal activation that is
not intended by the driver. An object may become lodged under a
foot pedal causing a lack of motion of the pedal when desired by
the driver.
SUMMARY
[0003] A vehicle includes a driver-side footwell including a
plurality of pedals. The vehicle further includes a sensor
configured to capture an image of the driver-side footwell and at
least one controller programmed to, in response to a difference
between the image and reference images of the footwell being
indicative of a presence of an object in the footwell that inhibits
actuation of one or more of the pedals, output a warning signal.
The at least one controller may be further programmed to output a
pedal status for each of the pedals based on a comparison between
the image and the reference images.
[0004] In some configurations, the reference images may represent a
plurality of captured images associated with arrangements of a
driver's feet in relation to the pedals in an absence of objects in
the footwell that inhibit actuation of one or more of the
pedals.
[0005] In some configurations, the at least one controller may be
further programmed to receive pedal position data of the pedals,
and in response to a difference between the image and the reference
image associated with the pedal position data being indicative of
an unintended pedal application, output the warning signal.
[0006] The vehicle may further include a collision avoidance system
that is configured to, in response to the warning signal, increase
a distance from a target object at which to generate a collision
warning indication. The collision avoidance system may be further
configured to receive the pedal status and, in response to the
pedal status being different than an expected pedal status, output
a crash avoidance warning. The collision avoidance system may be
further configured to, in response to the pedal status being
different than the expected pedal status and a target object being
less than a predetermined distance from the vehicle, request a
brake application to reduce vehicle speed to avoid a collision with
the target object.
[0007] A footwell object detection system includes a sensor
configured to output data indicative of a state of a driver-side
footwell that includes a plurality of pedals and at least one
controller programmed to, in response to a difference between the
data and stored data corresponding to reference states of the
footwell being indicative of a presence of an object that inhibits
actuation of one or more of the pedals, output a warning signal.
The output data of the sensor may be an image. The reference states
may represent a plurality of states associated with arrangements of
a driver's feet in relation to the pedals in an absence of objects
in the footwell that inhibit actuation of one or more of the
pedals. The at least one controller may be further programmed to
output a pedal status for each of the pedals based on a comparison
between the data and the stored data.
[0008] The sensor may be a digital camera, a video camera, a
laser-based sensor, a radar sensor, a sonar sensor, or a
night-vision camera. The warning signal may be one or more of an
audible alarm, a visual indicator, and a tactile indicator.
[0009] A method for detecting objects in a driver-side footwell of
a vehicle includes capturing, by at least one controller, an image
of the footwell including a plurality of pedals. The method further
includes outputting, by the at least one controller, a warning
indication in response to a difference between the image and
reference images of the footwell being indicative of a presence of
an object that inhibits actuation of one or more of the pedals. The
method may further include increasing, by the at least one
controller, a distance from a target object at which a collision
avoidance system applies brakes to reduce vehicle speed. The method
may further include increasing, by the at least one controller, a
distance from a target object at which a collision avoidance system
generates a collision warning indication. The method may further
include outputting, by the at least one controller, a pedal status
for each of the pedals based on a comparison between the image and
the reference images. The method may further include outputting, by
the at least one controller, the warning indication in response to
a difference between the image and the reference image associated
with vehicle acceleration data being indicative of an unintended
pedal application.
BRIEF DESCRIPTION OF THE DRAWINGS
[0010] FIG. 1A is a possible side view of a driver-side
footwell;
[0011] FIG. 1B is a possible top view of a driver-side
footwell;
[0012] FIG. 2 is a possible configuration of control modules in a
vehicle including a driver-side footwell object detection system;
and
[0013] FIG. 3 is a possible sequence of operations for a outputting
a warning signal for a driver-side footwell object detection
system.
DETAILED DESCRIPTION
[0014] Embodiments of the present disclosure are described herein.
It is to be understood, however, that the disclosed embodiments are
merely examples and other embodiments can take various and
alternative forms. The figures are not necessarily to scale; some
features could be exaggerated or minimized to show details of
particular components. Therefore, specific structural and
functional details disclosed herein are not to be interpreted as
limiting, but merely as a representative basis for teaching one
skilled in the art to variously employ the present invention. As
those of ordinary skill in the art will understand, various
features illustrated and described with reference to any one of the
figures can be combined with features illustrated in one or more
other figures to produce embodiments that are not explicitly
illustrated or described. The combinations of features illustrated
provide representative embodiments for typical applications.
Various combinations and modifications of the features consistent
with the teachings of this disclosure, however, could be desired
for particular applications or implementations.
[0015] FIG. 1A depicts a possible side view of a driver-side
footwell 26 of a vehicle 10. FIG. 1B depicts a possible top view of
the driver-side footwell 26 of the vehicle 10. Within the footwell
26 may be mounted several lever style pedal assemblies 12
configured to be depressed to actuate and control one or more of
throttle, brake and clutch functions. The vehicle 10 may include an
accelerator pedal 14 that is configured to adjust a throttle
mechanism to control an amount of acceleration of the vehicle 10.
The vehicle 10 may include a brake pedal 16 that is configured to
adjust an amount of brake pressure to control an amount of
deceleration of the vehicle 10. The vehicle 10 may include a clutch
pedal 18 that is configured to disengage a transmission from an
engine to permit changing a gear of the transmission. The vehicle
10 may include a parking brake pedal 20 that is configured to
activate a parking brake. The vehicle 10 having an automatic
transmission may include the accelerator pedal 14 and the brake
pedal 16. The vehicle 10 having a manual transmission may include
the accelerator pedal 14, the brake pedal 16, and the clutch pedal
18. FIGS. 1A and 1B depict a left-side driver's footwell 26, but
the disclosure also covers a right-side driver's footwell 26 with
the component position adjusted accordingly.
[0016] The pedal assembly 12 may be located in the footwell 26 of
the vehicle 10 and may be configured to be operated by a driver's
feet. The footwell 26 may be defined by a space that includes the
pedal assemblies 12 and that space surrounding the pedal
assemblies. In a horizontal plane, the footwell 26 may include the
space bounded by a driver's side panel 28 and door 30, a firewall
32, a central tunnel sidewall 36 and/or a center console sidewall
34, and a front of a driver's seat 38. In a vertical dimension, the
footwell 26 may include the space between a floor pan 40 of the
vehicle 10 and an underside of a dashboard 42 of the vehicle 10.
The firewall 32 (or bulkhead) may be defined as a structure or
panel that separates an engine compartment from a passenger
compartment of the vehicle 10. The floor pan 40 of the vehicle 10
may be defined as a structural component or panel that separates
the passenger compartment from an underside of the vehicle 10. The
firewall 32 and floor pan 40 may be fastened (e.g, welded, bolted,
riveted) together along a seam 44 that may define a boundary
between the two. The footwell 26 may be further defined as a region
encompassed by those surfaces contained within a volume defined by
maximum dimensions in each coordinate of the horizontal plane and a
maximum value of the vertical dimension. More generally, the
footwell 26 may include that space in the vicinity of the pedals
14, 16, 18, 20 in which the driver's feet may be placed during
operation of the vehicle 10.
[0017] The pedal assembly 12 may include an arm 46 and a foot pad
48. The foot pad 48 may be configured such that the driver's foot
may be placed on the pad 48 to apply a force. Each pedal may have a
different shape foot pad 48. The arm 46 may be pivotally coupled to
a mounting bracket 50 that is coupled to the firewall 32 or floor
pan 40. When a force is applied to the foot pad 48, the pedal 12
may pivot about a pivot point 52 of the arm 46. The pedal assembly
12 may be mechanically linked to associated mechanical systems via
mechanical linkages and actuation of the associated mechanical
system may be effected depression of the pedal 12.
[0018] The pedal assembly 12 may be configured to be biased to a
default or deactivated position. The mechanism for biasing the
pedal assembly 12 to the default position may include a torsion
spring at the pivot point 52 or other damping mechanism attached
between the arm 46 and the firewall 32 or floor pan 40. The bias
mechanism may be configured to provide resistance to an actuating
motion of the pedal 12 (e.g., a pedal depression). In some
configurations, mechanical linkages to actuate associated functions
may provide this resistance to motion. For example, a brake pedal
motion may be resisted by force required to build pressure within
the brake system. The pedal assembly 12 may include an electrical
sensor 22 that provides a signal 54 that varies with a position of
the pedal 12. The electrical sensor 22 may be a potentiometer
coupled at the pivot point 52 of the arm 46 in which a resistance
varies as the arm 46 rotates about the pivot point 52.
[0019] The electrical sensor 22 may be electrically coupled to a
controller to permit detection of a position or relative angle of
rotation of the pedal 12. The pedal position may be used by the
controller to control vehicle operations such as acceleration and
deceleration. A drawback of lever style pedal assembly 12 is that
an object may enter the travel path of the pedal assembly 12. For
example, an object that comes to rest between the arm 46 or footpad
48 and the floor pan 40 may obstruct motion of the pedal 12. The
object may prevent motion of the pedal 12 to a position intended by
the driver leading to a loss of control for the driver. That is,
the pedal 12 does not effect a control action that the driver
intends. For example, an object may obstruct the downward movement
of the brake pedal 16. If the brake pedal 16 is obstructed, vehicle
deceleration may be less than the driver intends.
[0020] FIG. 2 depicts a possible configuration of controllers and
sensors to implement a footwell object detection system (FODS) 100.
The vehicle 10 may include the footwell object detection system 100
to monitor the footwell 26 for unintended objects that may
interfere with pedal operation. A pedal interference may include
preventing the driver from positioning the pedal 12 to the intended
position (e.g., obstructing movement of the pedal). An obstructing
object may cause a reduced pedal reaction leading to a control
action that is less than the driver's intent, such as reduced
braking or acceleration. Another pedal interference may include
positioning the pedal 12 to an actuated position without driver
interaction (e.g., unintended force applied to the pedal). The
interference to pedal operation without driver interaction may
cause unintended control actions, such as unintended braking or
acceleration.
[0021] The footwell object detection system 100 may include one or
more object detection sensors 102 located in the footwell 26 of the
vehicle 10 to detect objects that may impede the movement or cause
movement of one or more of the pedals 12. The object detection
sensor 102 may include a photo optic type sensor such as a laser
sensor or an image recognition type sensor such as a camera. The
object detection sensor 102 may include infrared capability to
achieve vision in low-light conditions. The object detection sensor
102 may be a digital camera, a video camera, a laser-based sensor,
a radar sensor, a sonar sensor, or a night-vision camera. An output
of the object detection sensor 102 may be an image of the footwell
26. The object detection sensor 102 may be configured to provide
two-dimensional images. In some configurations, the object
detection sensor 102 may be configured to provide three-dimensional
image data using multiple sensors.
[0022] The footwell object detection system 100 may include one or
more FODS controllers 104 that interface with the object detection
sensor 102. The FODS controller 104 may include a processor to
execute instructions and programs. The FODS controller 104 may
further include volatile and non-volatile memory to store data and
instructions. The FODS controller 104 may further include interface
circuitry to interface with the object detection sensor 102. The
interface circuitry may include analog-to-digital converters and
filters. The FODS controller 104 may include one or more serial
interfaces 120 for communicating with additional controllers in the
vehicle 10. The serial interface 120 may be a Controller Area
Network (CAN) interface. The FODS controller 104 may include a
network interface defined by Institute of Electrical and
Electronics Engineers (IEEE) 802 family of standards. The FODS
controller 104 may include software drivers for communicating via
the serial and network interfaces.
[0023] A brake system controller 112 may be electrically coupled to
a brake pedal sensor 110 that is mechanically coupled to the brake
pedal 16. The brake pedal sensor 110 may provide a signal
indicative of a position or angle of rotation of the brake pedal
16. A powertrain controller 116 may be electrically coupled to an
accelerator pedal sensor 114 that is mechanically coupled to the
accelerator pedal 14. The accelerator pedal sensor may provide a
signal indicative of a position or angle of rotation of the
accelerator pedal 14. A Collision Avoidance System (CAS) 118 may
include one or more controllers that communicate with the other
controllers 104, 112, 116 over the serial communications bus 120.
The FODS controller 104 may exchange data with the brake controller
112, the powertrain controller 116, and the CAS 118.
[0024] The object detection sensor 102 may be mounted in a location
within the passenger cabin to monitor the footwell 26 for objects.
The object detection sensor 102 may be located within the footwell
26. For example, the object detection sensor 102 may be mounted to
the central console sidewall 34 or the driver's side panel 28. In
some configurations, the object detection sensor 102 may be mounted
on the firewall 32. In some configurations, the object detection
sensor 102 may be mounted in a space between an underside of the
driver's seat 56 and the floor pan 40. The object detection sensor
102 may be mounted in a position such that the sensor 102 may
collect data representing the entire footwell 26. Some
configurations may include multiple object detection sensors 102
mounted in different locations to improve detection. Considerations
for the mounting location of the object detection sensor 102 may
include maximizing sensor view of the footwell 26, minimizing
obstructed views, and reducing sensor blockages.
[0025] Under normal conditions, the only objects expected in the
footwell 26 are legs and feet of the driver. As such, the footwell
object detection system 100 may be configured to recognize that an
object in the footwell 26 is one or both of the driver's legs and
feet. The system 100 may be further configured to detect additional
objects that may interfere with normal pedal operation. Such
objects may include floor mats or rugs that may have rolled up near
the pedal 12 or have otherwise changed shape in manner that may
affect operation of the pedal 12. The objects may include any of a
variety of loose items that may be on the floor of the vehicle. For
example, the object may be a ball or other round object, a can, a
bottle, a box or package, or a catalog or book. Any object carried
in the vehicle 10 may potentially end up in the footwell 26.
[0026] The footwell object detection system 100 may include an
audible indicator 106 that may be used to alert the driver of
objects in the footwell 26. The audible indicator 106 may be a
buzzer, a speaker, a bell, a chime, or other audible sound
generator. The footwell object detection system 100 may include a
visual indicator 108 that may be used to alert the driver of
objects in the footwell 26. The visual indicator 108 may be a lamp,
a light, a display, or other visual indication. The visual
indicator 108 may be mounted in a location that is easily visible
to the driver. The footwell object detection system 100 may include
a tactile indicator 122 that may be used to alert the driver. The
tactile indicator 122 may include an electric motor that rotates an
unbalanced weight. For example, a tactile indicator 122 may be
coupled to the steering wheel or the pedal 12 to cause vibration in
response to the alert. The audible indicator 106, the visual
indicator 108, and the tactile indicator 122 may be interfaced to
the controller 104 by discrete wires or serial communication. The
audible indicator 106, the visual indicator 108, and the tactile
indicator 122 may be electrically coupled to the FODS controller
104. In some configurations, the audible indicator 106, the visual
indicator 108, and the tactile indicator 122 may be controlled via
the serial communications bus.
[0027] The object detection sensor 102 may output data indicative
of a present state of the driver side footwell 26. For example, the
present state may be represented by an image or radar/sonar map of
the footwell 26. The object detection sensor 102 may be configured
to capture an image of the footwell 26. The object detection sensor
102 may process raw sensor data. For example, an image sensor may
implement an edge-detection algorithm or other types of filters to
better highlight objects and shapes in the footwell 26. The output
may be an image or an image pattern that represents the present
state of the footwell 26.
[0028] The FODS controller 104 may store data in memory that is
indicative of reference states of the footwell 26 and pedals 12.
The reference states may be images. The stored data may correspond
to output data of the object detection sensor 102 during normal
operating conditions. The reference states may include expected
operating conditions without unintended objects in the footwell 26.
The stored data may be generated during development by recording
output data of the object detection sensor 102 during various
reference conditions. The reference states may include predicted
sensor output data for the footwell 26 prior to driver entry. The
reference states may include conditions in which the driver's legs
and feet are positioned to operate the vehicle. For example,
reference states may include an accelerator pedal application, a
brake pedal application, and a clutch pedal application. The
reference states may include various resting positions for the
driver's feet. The reference states may include driving
arrangements in which both feet are on the pedals. The reference
states may represent a plurality of states associated with
arrangements of the driver's feet in relation to the pedals in an
absence of object in the footwell 26 that inhibit actuation of one
or more of the pedals 12.
[0029] The footwell object detection system 100 may be calibrated
by training the system to recognize patterns present during normal
operating conditions. During a training period, the FODS controller
104 may monitor signals from the object detection sensor 102 under
different conditions to determine reference images and patterns.
For example, the FODS controller 104 may process the sensor data
during pedal activations and store the image and pattern data in
non-volatile memory for later retrieval. The FODS controller 104
may process the sensor data for patterns representing the legs and
feet of the driver. A normal driving pattern or reference state may
be identified. For example, patterns may be stored during
activation of the accelerator pedal and during activation of the
brake pedal 16. The training period may be a fixed period time
corresponding to sale of the vehicle 10. In some configurations,
the training period may be continuous such that the reference
states may be continually updated over time. Continual updating of
the reference states may improve performance as the reference
states may become tuned to each driver.
[0030] The stored data may be processed offline and stored in the
memory of the FODS controller 104. The reference data may represent
images of the footwell 26. The reference data may be pre-processed
to identify shapes and patterns that are present in the images of
the footwell 26 during normal operation. The offline processing may
include processing the reference data using pattern and shape
recognition algorithms. The stored data may also include associated
parameters identifying the condition. Parameters may include data
indicative of the pedals that are applied. Patterns representing
the shapes may be stored in the memory of the FODS controller 104.
The offline processing may include operations that are similar to
processing by the FODS controller 104 during vehicle operation.
[0031] The stored data may represent a database of expected outputs
of the object detection sensor 102 during normal operation. During
vehicle operation, the FODS controller 104 may receive and process
the data from the object detection sensor 102. The data
representing the present state may be compared to the stored data
representing the reference states. The present state may be
compared with each reference state until a match is detected. If
the data is not recognized within the stored data, then there may
be an object present in the footwell 26. In some configurations,
the stored data may include objects that impede the motion of one
or more of the pedals 12.
[0032] The processing by the FODS controller 104 may include shape
identification. The shapes identified in the present state sensor
data may be compared to those shapes in the stored memory. For
example, a shape may be recognized as the driver's foot. The data
may be processed to account for different sizes of the shapes. The
FODS controller 104 may execute pattern recognition algorithms to
identify patterns in the data. For example, the stored data may
represent an average sized foot. The present data may differ due to
the driver's foot being larger or smaller. The FODS controller 104
may be configured to scale and realign shapes and patterns to
facilitate comparison of the stored data and the present sensor
data.
[0033] During vehicle operation, objects may move into and out of
the footwell 26. For example, the object may move as the vehicle 10
accelerates and decelerates. The FODS controller 104 may
periodically sample sensor data from the object detection sensor
102. The footwell object detection system 100 may be configured to
track the movement of objects into and out of the footwell 26 area.
The FODS controller 104 may be configured to compare consecutive
images to identify changes between the images. Differences in the
images between sample times may indicate movement of objects in the
footwell 26. The FODS controller 104 may activate a warning
indicator if an object is sensed moving into and out of the
footwell 26 area to alert the driver of the condition.
[0034] The footwell object detection system 100 may be configured
to operate in the lighting conditions that are present in the
footwell 26. The footwell object detection system 100 may be
configured to operate in low light conditions as may be present at
night. Although internal lighting may illuminate the footwell 26,
there may be situations in which the lighting is blocked or
non-functional. The object detection sensor 102 may be a camera
with night-vision capability to operate in low-light conditions.
Infrared, radar, and/or sonar sensor may be utilized to improve
low-light capability.
[0035] The footwell object detection system 100 may be configured
to monitor the footwell 26 during ignition on conditions. That is,
the footwell object detection system 100 may be operable while the
vehicle is in operation. The footwell object detection system 100
may continually monitor the state of the footwell 26 even when the
pedals are not actuated. In this manner, the footwell object
detection system 100 may detect movement of the driver's feet as
well as the movement of objects that may be within the footwell 26.
As such, the footwell object detection system 100 can provide more
than just a confirmation of an applied pedal. The footwell object
detection system 100 may be capable of determining a driver's
intended application of the pedals 12 without relying on the
electrical sensor 22 associated with the pedal 12.
[0036] The footwell object detection system 100 may be configured
to detect when unintended objects are in the driver-side footwell
26. The FODS controller 104 may receive data representing a present
state of the footwell 26. The data may be an image of the footwell
26. The FODS controller 104 may compare the present to reference
states of the footwell 26. The reference states may be images of
the footwell 26 that are stored in memory. Using standard image
processing algorithms, the FODS controller 104 may compare the
image to the reference images. In response to a difference between
the image and reference images of the footwell being indicative of
a presence of an object in the footwell that inhibits actuation of
one or more of the pedals, the FODS controller 104 may output a
warning signal to activate the audible indicator 106, the visible
indicator 108, and/or the tactile indicator 122.
[0037] In some configurations, the footwell object detection system
100 may be configured to determine if the sensor signals from the
pedal corresponds to the pedal that the driver is actuating. That
is, the electrical signal associated with the pedal indicates
movement of the pedal when the present state indicates that the
pedal is being actuated. As an example, an object that is
preventing a pedal 12 from being released back to the default
position may be detected. Data from the object detection sensor 102
may be indicative of the leg and foot of the driver being away from
the pedals 12. In such a condition, data indicative of a pedal
activation based on pedal data does not match the data from the
object detection sensor 102. In such a condition, the FODS
controller 104 may activate the audible and/or visible
indicator.
[0038] In addition to outputting a warning, the FODS controller 104
may output a signal indicative of a status of each of the pedals
12. Status information may be output for each of the pedals 12 in
the footwell 26. The status information may include a predicted
state based on a comparison of the image data to the reference or
stored data. The status information may include an application
state (e.g., actuated, not actuated) of each pedal 12. The status
information for each pedal may include an indicator that the
driver's feet are located in the vicinity of the pedal (e.g.,
actuation imminent, actuation just released). The status
information may include an indication that the driver's feet are
moving (e.g., from the accelerator pedal 14 to the brake pedal 16).
If the electrical signal data indicates an actuation and the image
data corresponds to an actuation by the driver, then the status
information may include a confirmed or validated indication. If the
electrical signal data indicates an actuation and the image data
does not correspond to an actuation by the driver, then the status
information may be set to indicate an unintended actuation. If the
electrical signal data indicates no actuation by the driver and the
image data corresponds to actuation by the driver, then the status
information may be set to indicate an obstruction. If the image
data does not match the reference images, then the status
information may be set to indicate that an obstruction is
suspected. The pedal status may be communicated to other
controllers 110, 114, 118. The other controllers 110, 114, 118 may
utilize to pedal status to modify operation that is based on the
pedals.
[0039] The footwell object detection system 100 may also be
utilized to determine that the vehicle is responding properly to
driver commands. Vehicle feedback signals may be monitored to
detect situations in which the pedals are being actuated by forces
other than the driver. Vehicle acceleration data may be received by
the FODS controller 104. The vehicle acceleration data may provide
information for acceleration and deceleration of the vehicle 10.
The vehicle acceleration data may be cross-checked with the image
data to determine if the vehicle performance matches driver intent.
For example, the vehicle acceleration data may indicate that the
vehicle is accelerating above a threshold. The vehicle performance
or response may be indicative of the driver actuating the
accelerator pedal 14. The FODS controller 104 may compare the
present image data to the reference image data to determine the
type of pedal application. If the present image data is indicative
of the accelerator pedal application, then the vehicle behavior and
the driver behavior match. If the present image data is indicative
of a different pedal application or no pedal application, then
there is a possibility of an unintended object (e.g., floor mat)
actuating the accelerator pedal 14. The FODS controller 104 may
output a warning indicator. The FODS controller 104 may output a
pedal status indicator that includes states of operation confirmed,
pedal obstructed, and unintentional application. The powertrain
controller may receive the warning and pedal status and limit the
response to the accelerator pedal signal. Other pedals in the
footwell 26 may be monitored in a similar manner.
[0040] The CAS 118 may implement various features to avoid
accidents. The CAS 118 may include an Adaptive Cruise Control
(ACC)/Collision Warning (CW) system that utilizes a radar system to
detect objects in the path of the vehicle. The ACC/CW system may be
configured to maintain a vehicle speed at a selected speed when
activated. The ACC/CW system may be configured to apply the brakes
to decelerate the vehicle. The ACC/CW system may be configured to
apply the brakes to bring the vehicle 10 to a complete stop under
certain conditions. The ACC/CW system may cause a brake application
by communicating a braking request to the brake controller 112. The
brake controller 112 may control the brake system to apply the
requested brake pressure.
[0041] During cruise control operation, the legs and feet of the
driver may be placed in an area away from the pedals (e.g., a rest
position). The ACC/CW system may deactivate cruise control mode
when the driver presses on the brake pedal 16. The ACC/CW system
may override the cruise control acceleration command when the
driver presses on the accelerator pedal 14. The footwell object
detection system 100 may be used to ensure that the state of brake
pedal 16 and accelerator pedal 14 used by the ACC/CW system 118 are
correct.
[0042] The FODS controller 104 may monitor data from the object
detection sensor 102 and the brake pedal position sensor 110 and
the acceleration pedal position sensor 114. During cruise control
mode the FODS controller 104 may monitor the accelerator pedal
position sensor 114 and determine if the signal from the
accelerator pedal position sensor 114 is indicative of an actuation
of the accelerator pedal 14. If the signal is indicative of an
accelerator pedal 14 application, the FODS controller 104 may
compare data from the object detection sensor 102 with stored data
corresponding to the driver applying the accelerator pedal 14. If
the data matches, the acceleration pedal 14 application may be
confirmed. If the data does not match, then an unintended pedal
application may be suspected. The FODS controller 104 may transmit
the status to the CAS 118. In response to the status indicating an
unintended pedal application, the CAS 118 may ignore the apparently
false acceleration request from the accelerator pedal position
sensor 114.
[0043] The FODS controller 104 may monitor the brake pedal position
sensor 110. The FODS controller 104 may compare data from the
object detection sensor 102 with stored data corresponding to the
driver applying the brake pedal 16. The FODS controller 104 may
indicate an obstructed status for the brake pedal 16 if the brake
pedal position sensor 110 and the image data do not provide the
same status (e.g., brake applied or brake not applied).
[0044] The CAS 118 may include a vehicle-to-vehicle (V2V)
communication interface 126 and a vehicle-to-infrastructure (V2I)
communication interface 124 that provides an indication of objects
in a path of the vehicle 10. For example, the V2I communication
interface 124 may receive information such as the status of
upcoming traffic lights, stop signs, or traffic density. The V2V
communications interface 126 may receive information regarding the
status of nearby vehicles such as speed, acceleration, and brake
application. The CAS 118 may alert the driver of objects in the
path of the vehicle 10. The CAS 118 may be configured to activate
the braking system to stop the vehicle 10 in the event of an
imminent collision.
[0045] When the presence of an object is detected that may impede
movement of the pedals 12, thresholds associated with the collision
warning function may be reduced. The CAS 118 may be configured to
automatically apply the brakes earlier than normal. This allows the
vehicle 10 to stop in a shorter distance than otherwise possible
due to the object impeding the pedal 12.
[0046] For example, an object may impede downward movement of the
brake pedal 16. During such an event, the driver may only be able
to activate the brake pedal 16 to a certain level which may not be
an amount of braking that the driver desires. A conventional ACC/CW
system may recognize that the driver is applying the brake pedal 16
and inhibit automatic brake activation. The improved collision
warning function may receive the information regarding an object in
the footwell 26 that may be impeding the movement of the brake
pedal 16. In response to this information, the CAS 118 may
automatically apply the brakes to provide a level of deceleration
to prevent a collision even in the presence of brake pedal
movement.
[0047] The collision warning thresholds that are reduced may be
those thresholds that relate to detection of objects in the path of
the vehicle 10. The collision warning function may be configured to
increase a distance from a target object at which to generate a
collision warning indication. This may permit earlier notification
to the driver of potential object in the path of the vehicle 10.
This allows the driver more time to respond to the collision alert.
With the extra time, the driver may be able to move the obstruction
from the pedal area. The CAS 118 may also be configured to increase
a distance from the target object at which a collision warning
system applies brakes to reduce vehicle speed. This may allow the
CAS 118 to compensate for an object that impedes the movement of
the brake pedal 16.
[0048] The CAS 118 may be configured to inhibit automatic brake
activation when the driver's foot is on the brake pedal 16. When an
object is detected in the footwell 26, the CAS 118 may be
configured to permit automatic brake activation, regardless of the
presence of the driver's foot on the brake pedal 16. This feature
permits automatic braking in response to an object detected in the
footwell 26 that may interfere with driver braking.
[0049] FIG. 3 depicts a flow chart of a possible sequence of
operations that may be implemented in the FODS controller 104 to
generate and output the warning signal. At operation 200, data
representing the present state of the footwell 26 is captured. At
step 202, the data is compared to reference data to detect any
unintended objects in the footwell 26. At operation 204, the
execution sequence may be changed if an unintended object is
detected. If the comparison results in the detection of an
unintended object, then execution may transfer to operation 218. At
operation 218, a warning signal is output. The warning signal may
activate the audible indicator 106 and/or the visible indicator
108.
[0050] If the comparison of operation 202 results in no unintended
objects being detected, operation 204 may transfer execution to
operation 206. At operation 206, pedal position data may be
received. At operation 208, the data representing the present state
is compared to the reference data corresponding to the pedal
position data. At operation 210, the execution sequence may be
changed if an unintended pedal application is detected. If an
unintended pedal application is detected, execution is transferred
to operation 218 which generate the output warning signal.
[0051] If the comparison of operation 208 does not result in an
unintended pedal application being detected, then execution may
transfer to operation 212. At operation 212, vehicle acceleration
data may be received. At operation 214, the data representing the
present state is compared to the reference data corresponding to
the vehicle acceleration data. At operation 216, the execution
sequence may be changed if an unintended pedal application is
detected. If an unintended pedal application is detected, execution
is transferred to operation 218 which generate the output warning
signal. In some configurations, the sequence of operations may be
altered. A result of the comparison operations may also include a
determination of the pedal status. In some configurations, an
additional operation of outputting the pedal status may be
included.
[0052] Other control modules in the vehicle 10 may receive the
warning signal and pedal status and perform operations based on
these signals. The operations may include inhibiting functions as
well as altering control actions. The operations may include
automatic actuation of various control functions such as
braking.
[0053] In some configurations, the footwell object detection system
100 may be used to enhance the CAS 118 functions. The CAS 118 may
determine an expected control action that should be taken (e.g.,
braking, acceleration, steering). The footwell object detection
system 100 may provide information about whether the driver's
control actions are consistent with the expected control action.
The footwell object detection system 100 may output the pedal
status for each of the pedals 12 as described. The CAS 118 may
compare the pedal status to an expected pedal status. For example,
the vehicle may be approaching a red light in which the driver may
be expected to brake (e.g., expected pedal status is brake pedal
applied). The vehicle 10 may receive information about the red
light condition from the V2I interface 124. The FODS controller 104
may compare the present state of the footwell 26 to the reference
states to determine the pedal status for each of the pedals 12. If
the pedal status does not match the expected pedal status, the CAS
118 may issue a warning and initiate a corrective action. The
corrective action may be to request a brake application to stop the
vehicle 10.
[0054] As another example, the vehicle 10 may be stopped at the red
light. The red light may change to a green light. The status of the
traffic light may be received from the V2I interface 124. Further,
information regarding nearby vehicles may be received by the V2V
interface 126. The CAS 118 may conclude that the vehicle 10 should
accelerate in response to the green light (e.g., expected pedal
status is accelerator pedal applied). The FODS controller 104 may
again compare the present state of the footwell 26 to the
references states to determine the pedal status. If the pedal
status does not match the expected pedal status then the CAS 118
may issue a warning signal.
[0055] The processes, methods, or algorithms disclosed herein can
be deliverable to/implemented by a processing device, controller,
or computer, which can include any existing programmable electronic
control unit or dedicated electronic control unit. Similarly, the
processes, methods, or algorithms can be stored as data and
instructions executable by a controller or computer in many forms
including, but not limited to, information permanently stored on
non-writable storage media such as ROM devices and information
alterably stored on writeable storage media such as floppy disks,
magnetic tapes, CDs, RAM devices, and other magnetic and optical
media. The processes, methods, or algorithms can also be
implemented in a software executable object. Alternatively, the
processes, methods, or algorithms can be embodied in whole or in
part using suitable hardware components, such as Application
Specific Integrated Circuits (ASICs), Field-Programmable Gate
Arrays (FPGAs), state machines, controllers or other hardware
components or devices, or a combination of hardware, software and
firmware components.
[0056] While exemplary embodiments are described above, it is not
intended that these embodiments describe all possible forms
encompassed by the claims. The words used in the specification are
words of description rather than limitation, and it is understood
that various changes can be made without departing from the spirit
and scope of the disclosure. As previously described, the features
of various embodiments can be combined to form further embodiments
of the invention that may not be explicitly described or
illustrated. While various embodiments could have been described as
providing advantages or being preferred over other embodiments or
prior art implementations with respect to one or more desired
characteristics, those of ordinary skill in the art recognize that
one or more features or characteristics can be compromised to
achieve desired overall system attributes, which depend on the
specific application and implementation. These attributes may
include, but are not limited to cost, strength, durability, life
cycle cost, marketability, appearance, packaging, size,
serviceability, weight, manufacturability, ease of assembly, etc.
As such, embodiments described as less desirable than other
embodiments or prior art implementations with respect to one or
more characteristics are not outside the scope of the disclosure
and can be desirable for particular applications.
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