Controlling skidding vehicles

• US 10,029,679 B2
• Filed: 08/09/2016
• Issued: 07/24/2018
• Est. Priority Date: 08/09/2016
• Status: Expired due to Fees

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Nava, Ivan
• Primary Examiner(s): Trivedi, Atul
• Application Number:
  US15/232,124
• Publication Number:
  US 20180043883A1
• Time in Patent Office: 714 Days
• Field of Search: 701 41
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2520/26 Wheel slip
• CPC Class Codes: B60W 2540/215 Selection or confirmation of options
• CPC Class Codes: B60W 2552/53 Road markings, e.g. lane marker or crosswalk
• CPC Class Codes: B60W 2554/20 Static objects
• CPC Class Codes: B60W 2554/4029 Pedestrians
• CPC Class Codes: B60W 2555/00 Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 2710/207 Steering angle of wheels
• CPC Class Codes: B60W 2720/106 Longitudinal acceleration
• CPC Class Codes: B60W 2720/125 Lateral acceleration
• CPC Class Codes: B60W 2720/24 Direction of travel
• CPC Class Codes: B60W 30/02 Control of vehicle driving stability
• CPC Class Codes: B60W 30/045 Improving turning performance
• CPC Class Codes: B60W 30/18172 Preventing, or responsive to skidding of wheels
• CPC Class Codes: B60W 50/082 Selecting or switching between different modes of propelling
• CPC Class Codes: B60W 60/0051 from occupants to vehicle
• CPC Class Codes: G05D 1/0236 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 13/62 characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement electric motor control H02P
• CPC Class Codes: G05D 3/206 : using clutch or brakes
• CPC Class Codes: G08G 1/166 : for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

The present invention extends to methods, systems, and computer program products for controlling skidding vehicles. In general, a vehicle adjusts its configuration to mitigate the skidding. The vehicle can recognize dynamic skid situations and apply strategies to avoid an accident. In response to a signal that a vehicle is in a specified type of skid, the vehicle'"'"'s configuration can be automatically changed to recover from the skid. Different configuration changes can be used to recover from different skid types, including: oversteer, understeer and counter steer. Changing vehicle configuration can include utilizing vehicle systems such as, for example, steering, braking, cruise control, lane keeping, etc.

Claims

1. A method for controlling a vehicle that is skidding, the method comprising:

receiving a request for automated corrective measures to control the skidding from an operator of the vehicle through an operator actuated switch dedicated to invoking the automated corrective measures to control the skidding;

formulating a configuration change for changing the configuration of at least one vehicle component in response to the request; and

applying the configuration change at the vehicle to change the configuration of the at least one vehicle component to mitigate the skidding.

2. The method of claim 1, wherein formulating a configuration change for changing the configuration of at least one vehicle component comprises formulating a configuration change to address one of:

an oversteer skid, an understeer skid, or a counter steer skid.

3. The method of claim 1, wherein formulating a configuration change for changing the configuration of at least one vehicle component comprises formulating a configuration change based on a perceived environment surrounding the vehicle, the perceived environment inferred from sensor data acquired from one or more LIDAR sensors.

4. The method of claim 1, wherein applying the configuration change at the vehicle to change the configuration of the at least one vehicle component comprises applying the configuration change to change one or more of:

the steering angle of a wheel of the vehicle, braking at the vehicle, and acceleration at the vehicle.

5. A vehicle, the vehicle comprising:

one or more sensors for sensing operation of the vehicle and sensing the environment surrounding the vehicle out to a specified range;

a plurality of wheels;

one or more processors;

a manually actuated switch dedicated to invoking automated corrective measures to control the skidding, the manually actuated switch being mounted to a steering wheel of the vehicle;

system memory coupled to one or more processors, the system memory storing instructions that are executable by the one or more processors;

the one or more processors configured to execute the instructions stored in the system memory to control the vehicle in a skid, including the following;

receive a signal from the manually actuated switch indicating that a user has actuated the switch;

access a vehicle configuration of the vehicle and the environment around the vehicle;

formulate an appropriate configuration change to address the skidding based at least on the vehicle configuration and the environment, the appropriate configuration change defining a change to one or more of;

the steering angle of at least one wheel from among the plurality of wheels and the speed of at least one wheel from among the plurality of wheels; and

apply the configuration change at the vehicle to change the steering angle or speed of at least one wheel, from among the plurality of wheels, to mitigate the skidding.

6. The vehicle of claim 5, further comprising the one or more processors configured to execute the instructions stored in the system memory to:

detect the vehicle configuration from sensor data, the sensor data acquired from sensors monitoring components of the vehicle; and

perceive the environment around the vehicle from other sensor data, the other sensor data acquired from sensors monitoring an area around the vehicle.

7. The vehicle of claim 6, wherein the one or more processors configured to execute the instructions stored in the system memory to perceive the environment around the vehicle from other sensor data comprise the one or more processors configured to execute the instructions stored in the system memory to perceive the environment around the vehicle from other sensor data acquired from one or more LIDAR sensors.

8. The vehicle of claim 5, wherein the one or more processors configured to execute the instructions stored in the system memory to formulate an appropriate configuration change to address the skidding comprise the one or more processors configured to execute the instructions stored in the system memory to formulate an appropriate configuration change address one of:

an oversteer skid, an understeer skid, or a counter steer skid.

9. The vehicle of claim 5, wherein the one or more processors configured to execute the instructions stored in the system memory to access a vehicle configuration of the vehicle comprise the one or more processors configured to execute the instructions stored in the system memory to access an indication that the duration of the skidding has exceed a specified period of time.

10. The vehicle of claim 5, wherein the one or more processors configured to execute the instructions stored in the system memory to access a vehicle configuration of the vehicle comprise the one or more processors configured to execute the instructions stored in the system memory to access an indication that the severity of the skidding has exceed a threshold severity.

11. The vehicle of claim 10, wherein the one or more processors configured to execute the instructions stored in the system memory to apply the configuration change at the vehicle comprise the one or more processors configured to execute the instructions stored in the system memory to override manual operation of the vehicle to apply the configuration change at the vehicle.

12. The vehicle of claim 10, wherein the one or more processors configured to execute the instructions stored in the system memory to apply the configuration change at the vehicle comprise the one or more processors configured to execute the instructions stored in the system memory to change one of:

acceleration at the vehicle or braking at the vehicle.

13. A method for automatically controlling a skidding vehicle, the vehicle including a plurality of wheels, the method comprising:

receiving a signal from a manually actuated switch dedicated to invoking automated corrective measures to control the skidding, the signal indicating that the vehicle is skidding and requesting automated corrective measures to reduce the skidding;

accessing a vehicle configuration of the vehicle and the environment around the vehicle by evaluating input from the one or more sensors;

formulating an appropriate configuration change to address the skidding based at least on the vehicle configuration and the environment, the appropriate configuration change defining a change to one or more of;

the steering angle of at least one wheel from among the plurality of wheels and the speed of at least one wheel from among the plurality of wheels; and

applying the configuration change at the vehicle to change the steering angle or speed of at least one wheel, from among the plurality of wheels, to mitigate the skidding.

14. The method of claim 13, wherein formulating an appropriate configuration change to address the skidding comprises formulating an appropriate configuration change to address one of:

oversteer skidding, understeer skidding, or counter steer skidding.

15. The method of claim 13, wherein applying the configuration change at the vehicle comprises changing one of:

acceleration at the vehicle or braking at the vehicle.