Vehicle dynamic control system for emergency handling

• US 10,144,419 B2
• Filed: 11/22/2016
• Issued: 12/04/2018
• Est. Priority Date: 11/23/2015
• Status: Active Grant

• Current Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Original Assignee: Magna Electronics Incorporated (Magna International Incorporated)
• Inventors: Viehmann, Alexander F.
• Primary Examiner(s): Trivedi, Atul
• Application Number:
  US15/358,166
• Publication Number:
  US 20170144658A1
• Time in Patent Office: 742 Days
• Field of Search: 701 23
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2530/20 Tyre data
• CPC Class Codes: B60W 2552/40 Coefficient of friction
• CPC Class Codes: B60W 30/02 Control of vehicle driving stability
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/18172 Preventing, or responsive to skidding of wheels
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering
• CPC Class Codes: B62D 9/005 Emergency systems using brakes for steering
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

Abstract

A driver assistance system of a vehicle includes a control operable to control steering of the vehicle and braking of the vehicle responsive to determination of an emergency driving event. The control operates in a normal operation mode and an emergency mode. The control, responsive to determination of an emergency driving event, engages the emergency mode. The control, responsive to determination of a lane in which the vehicle is traveling, and responsive to an emergency mode activation, may control the steering of the vehicle to steer the vehicle along the determined lane. Optionally, the control may not control braking of the vehicle to quickly stop the vehicle responsive to an input from the driver indicative of the driver not wanting to stop the vehicle.

Claims

1. A driver assistance system of a vehicle, said driver assistance system comprising:

a control operable to control steering of the vehicle and braking of the vehicle responsive to determination of an emergency driving event;

wherein said control operates in a normal operation mode and an emergency mode, and wherein said control, responsive to determination of an emergency driving event, engages the emergency mode;

wherein said control, responsive to determination of a lane in which the vehicle is traveling, and responsive to an emergency mode activation, controls the steering of the vehicle to steer the vehicle along the determined lane; and

wherein the emergency mode activation is triggered by at least one emergency driving event selected from the group consisting of (i) loss of contact of one or more of the wheels of the vehicle with the ground, (ii) the road along which the vehicle is traveling being slippery, (iii) malfunction of a powertrain part of the vehicle, (iv) loss of a wheel of the vehicle, (v) wobbling of a wheel of the vehicle, (vi) imbalance of the vehicle due to lost or shifted cargo and (vii) misalignment of a rear axle of the vehicle.

2. The driver assistance system of claim 1, wherein said control does not control braking of the vehicle to quickly stop the vehicle responsive to an input from the driver indicative of the driver not wanting to stop the vehicle.

3. The driver assistance system of claim 2, wherein the input from the driver comprises the driver accelerating the vehicle.

4. The driver assistance system of claim 1, wherein, when operating in the emergency mode, said control is operable to determine a targeted stopping location and wherein said control controls steering of the vehicle and braking of the vehicle to guide the vehicle to and stop the vehicle at the targeted stopping location.

5. The driver assistance system of claim 4, wherein said control determines a targeted stopping location substantially ahead of the vehicle and after a road condition changes.

6. The driver assistance system of claim 5, wherein the determined road condition change comprises one of (i) a construction zone ending, (ii) a narrow road widening and (iii) a shoulder of the road beginning.

7. The driver assistance system of claim 1, wherein said control determines the emergency driving condition responsive to one or more sensors of the vehicle.

8. The driver assistance system of claim 1, wherein the lane is determined responsive to image processing of image data captured by a camera disposed at the vehicle and having a field of view exterior and forward of the vehicle.

9. The driver assistance system of claim 1, wherein, responsive to determination of a tire blowout, said control operates in the emergency mode and steers the vehicle to maintain the vehicle moving along a determined path of travel.

10. The driver assistance system of claim 9, wherein, while operating in the emergency mode, said control steers the vehicle to maintain the vehicle moving along the determined path of travel.

11. The driver assistance system of claim 10, wherein said control applies a positive or negative torque to respective ones of the wheels of the vehicle to assist in guiding the vehicle along the determined path of travel.

12. The driver assistance system of claim 10, wherein said control controls braking at individual ones of the wheels of the vehicle to assist in guiding the vehicle along the determined path of travel.

13. The driver assistance system of claim 12, wherein said control controls the torque of individual ones of the wheels of the vehicle to assist in guiding the vehicle along the determined path of travel.

14. The driver assistance system of claim 10, wherein said control controls the direction of individual ones of the steering wheels of the vehicle with an individual steering angle offset to assist in guiding the vehicle along the determined path of travel.

15. The driver assistance system of claim 14, wherein the individual steering angle offset of individual ones of the steering wheels comprises a crab steering behavior.

16. A driver assistance system of a vehicle, said driver assistance system comprising:

a control operable to control steering of the vehicle and braking of the vehicle;

wherein said control determines an emergency driving condition responsive to one or more sensors of the vehicle;

wherein said control operates in a normal operation mode and an emergency mode, and wherein said control, responsive to determination of an emergency driving event, engages the emergency mode;

wherein, when operating in the emergency mode, said control is operable to determine a targeted stopping location, and wherein said control controls steering of the vehicle and braking of the vehicle to guide the vehicle to and stop the vehicle at the targeted stopping location; and

wherein the emergency mode activation is triggered by at least one emergency driving event selected from the group consisting of (i) loss of contact of one or more of the wheels of the vehicle with the ground, (ii) the road along which the vehicle is traveling being slippery, (iii) malfunction of a powertrain part of the vehicle, (iv) loss of a wheel of the vehicle, (v) wobbling of a wheel of the vehicle, (vi) imbalance of the vehicle due to lost or shifted cargo and (vii) misalignment of a rear axle of the vehicle.

17. The driver assistance system of claim 16, wherein said control determines a targeted stopping location substantially ahead of the vehicle and after a road condition changes.

18. The driver assistance system of claim 17, wherein the determined road condition change comprises one of (i) a construction zone ending, (ii) a narrow road widening and (iii) a shoulder of the road beginning.

19. A driver assistance system of a vehicle, said driver assistance system comprising:

a control operable to control steering of the vehicle and braking of the vehicle;

wherein said control determines an emergency driving condition responsive to one or more sensors of the vehicle;

wherein said control operates in a normal operation mode and an emergency mode, and wherein said control, responsive to determination of an emergency driving event, engages the emergency mode;

wherein, responsive to determination of a tire blowout, said control operates in the emergency mode and steers the vehicle to maintain the vehicle moving along a determined path of travel;

wherein, while operating in the emergency mode, said control steers the vehicle to maintain the vehicle moving along the determined path of travel; and

wherein the emergency mode activation is triggered by at least one emergency driving event selected from the group consisting of (i) loss of contact of one or more of the wheels of the vehicle with the ground, (ii) the road along which the vehicle is traveling being slippery, (iii) malfunction of a powertrain part of the vehicle, (iv) loss of a wheel of the vehicle, (v) wobbling of a wheel of the vehicle, (vi) imbalance of the vehicle due to lost or shifted cargo and (vii) misalignment of a rear axle of the vehicle.

20. The driver assistance system of claim 19, wherein said control applies a positive or negative torque to respective ones of the wheels of the vehicle to assist in guiding the vehicle along the determined path of travel, and wherein said control controls the direction of individual ones of the steering wheels of the vehicle with an individual steering angle offset to assist in guiding the vehicle along the determined path of travel.