Collision avoidance with active steering and braking
First Claim
1. A method for collision avoidance using automated braking and steering comprising:
- determining an actual distance to an obstacle in a path of a vehicle;
determining a relative velocity between said obstacle and said vehicle;
determining a first distance sufficient to avoid collision by braking only;
determining a second distance sufficient to avoid collision by combined braking and steering around said obstacle;
applying braking if at least one of, said first distance exceeds said actual distance and said first distance is within a selected threshold of said actual distance; and
if said actual distance exceeds said second distance and a lane change is permitted, applying steering control to affect a lane change.
2 Assignments
0 Petitions
Accused Products
Abstract
A method for collision avoidance using automated braking and steering comprising: determining an actual distance to an obstacle in a path of a vehicle; determining a relative velocity between the obstacle and the vehicle; determining a first distance sufficient to avoid collision by braking only; determining a second distance sufficient to avoid collision by combined braking and steering around the obstacle. The method also includes: applying braking if at least one of, the first distance exceeds the actual distance and the first distance is within a selected threshold of the actual distance. If the actual distance exceeds the second distance and a lane change is permitted, steering control to affect a lane change is applied.
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Citations
41 Claims
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1. A method for collision avoidance using automated braking and steering comprising:
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determining an actual distance to an obstacle in a path of a vehicle;
determining a relative velocity between said obstacle and said vehicle;
determining a first distance sufficient to avoid collision by braking only;
determining a second distance sufficient to avoid collision by combined braking and steering around said obstacle;
applying braking if at least one of, said first distance exceeds said actual distance and said first distance is within a selected threshold of said actual distance; and
if said actual distance exceeds said second distance and a lane change is permitted, applying steering control to affect a lane change. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A system for collision avoidance in a vehicle using automated braking and steering comprising:
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an active braking system comprising;
a wheel actuator in operable communication with a vehicle wheel, a wheel speed sensor, and a sensor for detecting an application of braking by an operator, said active braking system including antilock braking functionality;
an active steering system comprising;
an operator input device, an actuator in operable communication with a steerable wheel, said actuator configured to adjust a steering angle of said steerable wheel independent of an input to said operator input device;
a first steering angle sensor in operable communication with said operator input device for detecting a steering angle indicative of an operator input, a second steering angle sensor in operable communication with said steerable wheel for detecting another angle indicative of a position of said steerable wheel;
a detection system comprising a sensor configured to detect an obstacle in a path of said vehicle; and
a controller in operable communication with said active braking system, said active steering system, and said detection system said controller executing a method for collision avoidance using automated braking and steering. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27)
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28. A system for collision avoidance in a vehicle using automated braking and steering comprising:
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a means for determining an actual distance to an obstacle in a path of a vehicle;
a means for determining a relative velocity between said obstacle and said vehicle;
a means for determining a first distance sufficient to avoid collision by braking only;
a means for determining a second distance sufficient to avoid collision by combined braking and steering around said obstacle;
a means for applying braking if at least one of, said first distance exceeds said actual distance and said first distance is within a selected threshold of said actual distance; and
a means for determining if said actual distance exceeds said second distance and a lane change is permitted, and a means for applying steering control to affect a lane change.
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29. A storage medium encoded with a machine-readable computer program code, said computer program code including instructions for causing controller to implement a method for collision avoidance using automated braking and steering comprising:
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determining an actual distance to an obstacle in a path of a vehicle;
determining a relative velocity between said obstacle and said vehicle;
determining a first distance sufficient to avoid collision by braking only;
determining a second distance sufficient to avoid collision by combined braking and steering around said obstacle;
applying braking if at least one of, said first distance exceeds said actual distance and said first distance is within a selected threshold of said actual distance; and
if said actual distance exceeds said second distance and a lane change is permitted, applying steering control to affect a lane change.
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30. A computer data signal, said data signal comprising code configured to cause a controller to implement a method for collision avoidance using automated braking and steering comprising:
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determining an actual distance to an obstacle in a path of a vehicle;
determining a relative velocity between said obstacle and said vehicle;
determining a first distance sufficient to avoid collision by braking only;
determining a second distance sufficient to avoid collision by combined braking and steering around said obstacle;
applying braking if at least one of, said first distance exceeds said actual distance and said first distance is within a selected threshold of said actual distance; and
if said actual distance exceeds said second distance and a lane change is permitted, applying steering control to affect a lane change.
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31. A method for collision avoidance using automated braking and steering comprising:
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determining an obstacle is in a path of a vehicle with which a collision may occur;
applying maximum emergency braking without skidding;
if a lane change is permitted, applying steering control to affect a lane change, wherein said steering control is configured to achieve a maximum lateral acceleration sufficient to cause lateral displacement without loss of surface adhesion. - View Dependent Claims (32, 33, 34, 35, 36, 37, 38)
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39. A system for collision avoidance in a vehicle using automated braking and steering comprising
a means for determining an obstacle is in a path of a vehicle with which a collision may occur; -
a means for applying maximum emergency braking without skidding;
a means for determining;
if a lane change is permitted; and
a means for applying steering control to affect a lane change, wherein said steering control is configured to achieve a maximum lateral acceleration sufficient to cause lateral displacement without loss of surface adhesion.
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40. A method of controlling a steering angle input in order to automatically perform an emergency lane change
using a feedforward control component and a feedback control components; -
said feedforward control component employing a selected steering pattern based on vehicle speed and an estimated surface coefficient of adhesion; and
said feedback control component using a measured yaw rate, at least one of an estimated lateral position and a measured lateral position, and at least one of an estimated lateral velocity and a measured lateral velocity.
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41. A method of determining a minimum distance necessary to avoid striking an obstacle with a following vehicle by braking comprising:
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estimating a first velocity of said obstacle;
determining a second velocity of said following vehicle;
estimating a road surface coefficient of adhesion;
computing said distance based on said first velocity, said second velocity and said road surface coefficient of adhesion.
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Specification