Autonomous roadway merge assist system

• US 10,293,819 B1
• Filed: 12/19/2017
• Issued: 05/21/2019
• Est. Priority Date: 12/19/2017
• Status: Active Grant

• Current Assignee: TRW Automotive USLLC (Zeppelin - Stiftung der Stadt Friedrichshafen)
• Original Assignee: TRW Automotive USLLC (Zeppelin - Stiftung der Stadt Friedrichshafen)
• Inventors: El-Khatib, Hassan M., Lynch, Gregory O.
• Primary Examiner(s): Paige, Tyler D
• Application Number:
  US15/846,263
• Time in Patent Office: 518 Days
• Field of Search: 701 41
• CPC Class Codes: B60W 10/06 including control of combustion engines
• 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 2050/143 Alarm means
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2554/803 Relative lateral speed
• CPC Class Codes: B60W 2554/804 Relative longitudinal speed
• CPC Class Codes: B60W 2710/0605 Throttle position
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 2754/30 Longitudinal distance
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/10 Path keeping cruise control for automatically following a preceding vehicle B60W30/165
• CPC Class Codes: B60W 30/16 Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
• CPC Class Codes: B60W 30/18154 Approaching an intersection
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B60W 60/001 : Planning or execution of driving tasks
• CPC Class Codes: B60W 60/00274 : considering possible movement changes
• CPC Class Codes: G08G 1/166 : for active traffic, e.g. moving vehicles, pedestrians, bikes
• CPC Class Codes: G08G 1/167 : Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

A system for autonomously assisting the operation of a host vehicle traveling on a first lane of a roadway includes at least one camera assembly for detecting the presence and speed of a vehicle merging into the first lane. A proximity sensor monitors the distance between the host vehicle and the merging vehicle. A controller electrically is connected to the at least one camera assembly and the proximity sensor and, in response to receiving signals from the at least one camera assembly and the proximity sensor, actuates a steering gear to laterally move the host vehicle from the first lane to a second lane of the roadway to allow the merging vehicle to enter the first lane.

Claims

1. A method for autonomously assisting the operation of a host vehicle traveling on a first lane of a roadway, comprising:

detecting the location and speed of a vehicle merging into the first lane; and

laterally moving the host vehicle from the first lane to a second lane in response to the detected location and speed of the merging vehicle.

2. The method recited in claim 1 further comprising:

monitoring the location and speed of the merging vehicle in the first lane; and

laterally moving the host vehicle back to the first lane in response to the monitored location and speed of the merging vehicle.

3. The method recited in claim 2, wherein the step of laterally moving the host vehicle back to the second lane comprises positioning the host vehicle behind the merging vehicle in response to the monitored location and speed of the merging vehicle.

4. The method recited in claim 2, wherein the step of laterally moving the host vehicle back to the second lane comprises positioning the host vehicle ahead of the merging vehicle in response to the monitored location and speed of the merging vehicle.

5. The method recited in claim 2 further comprising autonomously actuating at least one of a brake and a throttle to control the host vehicle speed in response to the monitored location and speed of the merging vehicle.

6. The method recited in claim 1 wherein the step of laterally moving the host vehicle comprises actuating a steering gear to steer wheels on the host vehicle.

7. The method recited in claim 1, wherein the host vehicle is laterally moved back to the first lane such that the host vehicle maintains a predetermined distance from the merging vehicle.

8. The method recited in claim 1 further actuating an alert connected to the controller for providing feedback to an operator of the host vehicle at least one of before and while the vehicle is laterally moved in an autonomous manner.

9. The method recited in claim 1, wherein the vehicle is merging from an on-ramp into the first lane.

10. The method recited in claim 1 further comprising autonomously actuating a turn signal to indicate the direction of lateral movement of the host vehicle.

11. The method recited in claim 1 further comprising:

autonomously adjusting the host vehicle speed until an object-free space adjacent to the first lane is defined; and

actuating the steering gear to laterally move the host vehicle into the object-free space.

12. A system for autonomously assisting the operation of a host vehicle traveling on a first lane of a roadway, comprising:

at least one camera assembly for detecting the presence and speed of a vehicle merging into the first lane;

a proximity sensor for monitoring the distance between the host vehicle and the merging vehicle; and

a controller connected to the at least one camera assembly and the proximity sensor and, in response to receiving signals from the at least one camera assembly and the proximity sensor, actuating a steering gear to laterally move the host vehicle from the first lane to a second lane of the roadway to allow the merging vehicle to enter the first lane.

13. The system recited in claim 12, wherein the at least one camera assembly comprises a plurality of camera assemblies each having a field of view that overlap one another and collectively surrounds the host vehicle.

14. The system recited in claim 12, wherein the controller monitors the location and speed of the merging vehicle and actuates the steering gear to laterally move the host vehicle back to the first lane in response to the monitored location and speed of the merging vehicle.

15. The system recited in claim 14, wherein the controller laterally moves the vehicle back to the first lane behind the merging vehicle in response to the monitored location and speed of the merging vehicle.

16. The system recited in claim 14, wherein the controller laterally moves the vehicle back to the first lane ahead of the merging vehicle in response to the monitored location and speed of the merging vehicle.

17. The system recited in claim 12 further comprising a throttle actuator and a brake actuator both actuatable by the controller for controlling the speed of the host vehicle.

18. The system recited in claim 12, wherein the host vehicle is laterally moved to the second lane when the merging vehicle is within a predetermined distance from the host vehicle.

19. The system recited in claim 12 further comprising an alert connected to the controller for providing feedback to an operator of the host vehicle at least one of before and while the vehicle is laterally moved in an autonomous manner.

20. The system recited in claim 12, wherein the vehicle is merging from an on-ramp into the first lane.