Pedestrian alert system and method
A pedestrian warning or alert system and method are disclosed. The warning system is mounted on an electric vehicle. The warning system includes a front speaker system, a rear speaker system, a front pedestrian detector, a rear pedestrian detector, and an electronic control unit (ECU) electronically coupled to the front speaker system, the rear speaker system, the front pedestrian detector, and the rear pedestrian detector. The ECU commands the front speaker system to emit a warning sound based on the front pedestrian detector detecting a pedestrian-shaped object and commands the rear speaker system to emit a warning sound based on the rear pedestrian detector detecting a pedestrian-shaped object. The ECU is coupled to a microphone, the signal of which is used to estimate an ambient noise level. The intensity and frequency of the warning sound commanded from the front and/or rear speaker system is based on the ambient noise level.
1. A method for a vehicle to warn pedestrians, comprising:
measuring a total noise level proximate the vehicle using a vehicle-mounted microphone;
determining an estimated vehicle noise level based on at least one of vehicle speed, vehicle trajectory, and vehicle accessory activity;
estimating an ambient noise level proximate the vehicle by subtracting the estimated vehicle noise level from the total noise level; and
generating a warning sound external to the vehicle based on a signal from a pedestrian detection sensor wherein at least one of an intensity or a frequency of the warning sound is based on the ambient noise level.
2. The method of claim 1 wherein the pedestrian detection sensor is one of a LIDAR, radio frequency, and sonic detector.
3. The method of claim 1 , further comprising:
processing the signal from the pedestrian detection sensor to determine whether a pedestrian-shaped object is proximate the vehicle wherein the warning sound is based on such determination of a pedestrian-shaped object being proximate the vehicle.
4. The method of claim 3 , further comprising:
processing the signal from the pedestrian detection sensor to further determine a distance and location of the pedestrian-shaped object with respect to the vehicle.
5. The method of claim 1 wherein the vehicle accessory comprises at least one of a fan, a pump, and a compressor.
6. The method of claim 1 wherein the warning sound comprises a sound recording including at least one of: white noise, vehicle accessory noise, vehicle aerodynamic noise, engine noise, and vehicle road noise.
7. The method of claim 1 , further comprising:
determining a direction in which the vehicle is moving;
emitting the warning sound directed toward the front of the vehicle when the vehicle is moving forward; and
emitting the warning sound directed behind the vehicle when the vehicle is moving in reverse.
8. The method of claim 3 , further comprising:
estimating a distance between the vehicle and the pedestrian-sized object wherein the intensity of the warning sound is further based on the distance between the vehicle and the pedestrian-sized object;
estimating a vehicle speed wherein the intensity of the warning sound is further based on the vehicle speed with intensity increasing as vehicle speed increases; and
focusing the warning sound over a narrower cone angle when vehicle speed increases.
9. The method of claim 1 wherein the vehicle is a hybrid electric vehicle and the generating the warning sound is further based on the vehicle being propelled by electric power only.
10. The method of claim 1 wherein the generating the warning sound is further based on a speed of the vehicle being greater than a first threshold and less than a second threshold.