OPTIMAL ACCELERATION PROFILE FOR ENHANCED COLLISION AVOIDANCE
First Claim
1. A method for providing an optimal collision avoidance path for a host vehicle that may potentially collide with a target vehicle, said method comprising:
- providing off-line an optimization look-up table for storing on the host vehicle that includes a plurality of optimal vehicle braking or longitudinal decelerations and optimal distances based on a range of speeds of the host vehicle and coefficients of friction of a roadway surface;
determining a current speed of the host vehicle during the potential collision;
determining a coefficient of friction of a roadway surface on which the host vehicle is traveling during the potential collision;
determining an optimal longitudinal deceleration or braking of the host vehicle for the optimal path for the current speed of the host vehicle and the coefficient of friction of the roadway surface that the host vehicle is traveling on using the look-up table;
determining an optimal lateral acceleration or steering of the host vehicle for the optimal path; and
providing the optimal braking and the optimal steering to the host vehicle to follow the optimal path to avoid the collision with the target vehicle.
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Abstract
A system and method for providing an optimal collision avoidance path for a host vehicle that may potentially collide with a target vehicle. The method includes providing off-line an optimization look-up table for storing on the host vehicle that includes an optimal vehicle braking or longitudinal deceleration and an optimal distance along the optimal path based on a range of speeds of the host vehicle and coefficients of friction of the roadway surface. The method determines the current speed of the host vehicle and the coefficient of friction of the roadway surface during the potential collision, and uses the look-up table to determine the optimal longitudinal deceleration or braking of the host vehicle for the optimal vehicle path. The method also determines an optimal lateral acceleration or steering of the host vehicle for the optimal vehicle path based on a friction ellipse and the optimal braking.
102 Citations
20 Claims
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1. A method for providing an optimal collision avoidance path for a host vehicle that may potentially collide with a target vehicle, said method comprising:
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providing off-line an optimization look-up table for storing on the host vehicle that includes a plurality of optimal vehicle braking or longitudinal decelerations and optimal distances based on a range of speeds of the host vehicle and coefficients of friction of a roadway surface; determining a current speed of the host vehicle during the potential collision; determining a coefficient of friction of a roadway surface on which the host vehicle is traveling during the potential collision; determining an optimal longitudinal deceleration or braking of the host vehicle for the optimal path for the current speed of the host vehicle and the coefficient of friction of the roadway surface that the host vehicle is traveling on using the look-up table; determining an optimal lateral acceleration or steering of the host vehicle for the optimal path; and providing the optimal braking and the optimal steering to the host vehicle to follow the optimal path to avoid the collision with the target vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for providing an optimal path for a host vehicle, said method comprising:
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providing an optimization look-up table for storing on the host vehicle that includes a plurality of optimal vehicle braking or longitudinal decelerations and optimal distances along the optimal path based on a range of speeds of the host vehicle and coefficients of friction of a roadway surface; determining a current speed of the host vehicle; determining a coefficient of friction of a roadway surface on which the host vehicle is traveling; determining an optimal longitudinal deceleration or braking of the host vehicle for the optimal path for the current vehicle speed and roadway coefficient of friction using the look-up table; and determining an optimal lateral acceleration or steering of the host vehicle for the optimal path using the optimal longitudinal deceleration and a friction ellipse. - View Dependent Claims (11, 12, 13, 14, 15)
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16. A system for providing an optimal collision avoidance path for a host vehicle that may potentially collide a target vehicle, said system comprising:
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means for providing off-line an optimization look-up table for storing on the host vehicle that includes a plurality of optimal vehicle braking or longitudinal decelerations and optimal distances along the path based on a range of speed of the host vehicle and coefficients of friction of a roadway surface; means for determining a current speed of the host vehicle during the potential collision; means for determining a coefficient of friction of a roadway surface on which the host vehicle is traveling during the potential collision; means for determining an optimal longitudinal deceleration or braking of the host vehicle for the optimal path for the current speed of the host vehicle and coefficient of friction of the roadway surface using the look-up table; means for determining an optimal lateral acceleration or steering of the host vehicle for the optimal path; and means for providing the optimal braking and the optimal steering of the host vehicle to follow the optimal path and to avoid the collision with the target vehicle. - View Dependent Claims (17, 18, 19, 20)
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Specification