Systems and methods for automatically disengaging a braking function of a vehicle

• US 10,275,797 B2
• Filed: 12/31/2016
• Issued: 04/30/2019
• Est. Priority Date: 11/21/2016
• Status: Active Grant

• Current Assignee: NIO Technology Company Limited (Shanghai Anbin Technology Co., Ltd.)
• Original Assignee: Nio Usa Inc.
• Inventors: Freytag, Patrick
• Primary Examiner(s): Sood, Anshul
• Application Number:
  US15/396,581
• Publication Number:
  US 20180141545A1
• Time in Patent Office: 850 Days
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Abstract

Embodiments herein relate to an autonomous vehicle or self-driving vehicle with a vehicle control system. The vehicle control system can determine, prior to and/or during a collision, whether an escape path exits. If an escape path exists, the brakes are disengaged such that at least some of the energy and/or momentum from a colliding vehicle is transferred and a jolt or shock experienced by an occupant is reduced.

Claims

1. A vehicle, comprising:

one or more sensors sensing an environment surrounding the vehicle;

a vehicle control system autonomously controlling a braking function of the vehicle;

a processor in communication with the one or more sensors and the vehicle control system, the processor programmed to;

identify an object within the environment via information received from the one or more sensors;

determine, based on the information received from the one or more sensors, that the object is about to collide with the vehicle;

determine a location of other objects in proximity to the vehicle;

determine, prior to a collision with the object and based on the location of the other objects in proximity to the vehicle, an escape path and escape angle for the vehicle to follow upon colliding with the object;

determine, based on the information received from the one or more sensors, to control the braking function of the vehicle to reduce a force of impact when colliding with the object;

disengage the braking function of the vehicle prior to and during a collision with the object; and

control autonomously a steering function of the vehicle to steer the vehicle at the escape angle and along the escape path around the other objects in proximity to the vehicle.

2. The vehicle of claim 1, wherein the processor is configured to steer the vehicle along the escape path during and after the collision using energy and momentum transferred to the vehicle from the collision with the object.

3. The vehicle of claim 2, wherein the vehicle is stationary prior to the braking function being disengaged.

4. The vehicle of claim 3, wherein the processor is configured to determine, based on information associated with the object approaching the vehicle, that the collision between the object and the vehicle is imminent.

5. The vehicle of claim 4, wherein prior to determining the escape path and escape angle for the vehicle to follow upon colliding with the object, the processor is further configured to:

determine that a risk of injury to an occupant of the vehicle does not increase by disengaging the braking function of the vehicle.

6. The vehicle of claim 2, wherein the processor is configured to engage the braking function to reduce a velocity of the vehicle and the object after the collision and after the braking function has been disengaged.

7. The vehicle of claim 6, wherein the processor is configured to reduce the velocity of the vehicle at a predetermined rate.

8. The vehicle of claim 2, wherein the processor is configured to estimate a mass, a velocity, and a trajectory of another vehicle, and further communicate with the another vehicle to mitigate a force associated with the collision experienced by an occupant of the vehicle.

9. A method, comprising:

sensing an environment surrounding a vehicle by one or more sensors;

sending sensor information to a processor;

identifying, by the processor and based on the sensor information received from the one or more sensors, an object within the environment;

determining, by the processor and based on the information received from the one or more sensors, that the object is about to collide with the vehicle;

determining, by the processor, a location of other objects in proximity to the vehicle;

determining, by the processor prior to a collision with the object and based on the location of the other objects in proximity to the vehicle, an escape path and an escape angle for the vehicle to follow upon colliding with the object;

determining, by the processor and based on the information received from the one or more sensors, to autonomously control a braking function of the vehicle to reduce a force of impact when colliding with the object;

disengaging the braking function of the vehicle prior to and during a collision with the object; and

controlling, autonomously by the processor, a steering function of the vehicle to steer the vehicle at the escape angle and along the escape path around the other objects in proximity to the vehicle.

10. The method of claim 9, further comprising:

steering the vehicle along the escape path during and after the collision using energy and momentum transferred to the vehicle from the collision with the object.

11. The method of claim 10, wherein the vehicle is stationary prior to the braking function being disengaged.

12. The method of claim 11, further comprising:

determining, via the processor and based on information associated with the object approaching the vehicle, that the collision between the object and the vehicle is imminent.

13. The method of claim 12, wherein prior to determining the escape path and escape angle for the vehicle to follow upon colliding with the object, the method further comprises:

determining that a risk of injury to an occupant of the vehicle does not increase by disengaging the braking function of the vehicle.

14. The method of claim 10, further comprising:

engaging the braking function to reduce a velocity of the vehicle and the object after the collision and after the braking function has been disengaged.

15. The method of claim 14, further comprising:

reducing the velocity of the vehicle at a predetermined rate.

16. A non-transitory information storage media having stored thereon one or more instructions, that when executed by a processor, cause the processor to perform a method, the method comprising:

sensing an environment surrounding a vehicle by one or more sensors;

sending sensor information to the processor;

identifying, by the processor and based on the sensor information received from the one or more sensors, an object within the environment;

determining, by the processor and based on the information received from the one or more sensors, that the object is about to collide with the vehicle;

determining, by the processor, a location of other objects in proximity to the vehicle;

determining, by the processor prior to a collision with the object and based on the location of the other objects in proximity to the vehicle, an escape path and an escape angle for the vehicle to follow upon colliding with the object;

determining, by the processor and based on the information received from the one or more sensors, to autonomously control a braking function of the vehicle to reduce a force of impact when colliding with the object;

disengaging the braking function of the vehicle prior to and during a collision with the object; and

controlling, autonomously by the processor, a steering function of the vehicle to steer the vehicle at the escape angle and along the escape path around the other objects in proximity to the vehicle.

17. The non-transitory information storage media of claim 16, further comprising:

steering the vehicle along the escape path during and after the collision using energy and momentum transferred to the vehicle from the collision with the object.

18. The non-transitory information storage media of claim 17, wherein the vehicle is stationary prior to the braking function being disengaged.

19. The non-transitory information storage media of claim 18, further comprising:

determining, via the processor and based on information associated with the object approaching the vehicle, that the collision is imminent, wherein the collision is between the vehicle and another vehicle.

20. The non-transitory information storage media of claim 17, further comprising:

engaging the braking function to reduce a velocity of the vehicle and the object after the collision and after the braking function has been disengaged.