SYSTEM AND METHOD FOR COLLISION AVOIDANCE MANEUVER PATH DETERMINATION WITH JERK LIMIT

• US 20130054128A1
• Filed: 08/31/2011
• Published: 02/28/2013
• Est. Priority Date: 08/31/2011
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: Moshchuk, Nikolai K., Chen, Shih-Ken, Zagorski, Chad T., Chatterjee, Aamrapali
• Granted Patent: US 9,318,023 B2
• Time in Patent Office: Days
• US Class Current: 701/301
• 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 30/08 Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering
• CPC Class Codes: G01S 13/93 for anti-collision purposes
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9318 Controlling the steering
• CPC Class Codes: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08
• CPC Class Codes: G08G 1/165 for passive traffic, e.g. including static obstacles, trees
• 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

In a vehicle, an optimal path curvature limited by one or more constraints may be determined. The constraints may be related to lateral jerk and one or more vehicle dynamics constraints. Based on the optimal path curvature, an optimal vehicle path around an object may be determined. The optimal vehicle path may be output to a collision avoidance control system. The collision avoidance control system may cause the vehicle to take a certain path.

Claims

1. A method comprising:

determining, in a vehicle, an optimal path curvature limited by one or more constraints, the constraints relating to lateral jerk and one or more vehicle dynamics constraints;

determining, based on the optimal path curvature, an optimal vehicle path around an object; and

outputting the optimal vehicle path to a vehicle collision avoidance control system.

2. The method of claim 1, wherein the one or more vehicle dynamics constraints comprise a lateral acceleration rate constraint.

3. The method of claim 1, wherein determining, based on the optimal path curvature, the optimal vehicle path around the object comprises:

determining one or more path segments;

determining one or more waypoints; and

determining the optimal path curvature based on the one or more path segments and one or more waypoints.

4. The method of claim 3, wherein the one or more path segments comprise one or path segments defined by one or more quadratic and one or more cubic functions.

5. The method of claim 1, wherein determining, in the vehicle, the optimal path curvature limited by the one or more constraints, the constraints relating to lateral jerk and one or more vehicle dynamics constraints comprises:

determining a minimum longitudinal distance between the vehicle and the object;

determining a piece-wise linear optimal path curvature comprising one or more path curvature segments; and

determining one or more waypoints, wherein the one or more waypoints connect the one or more path curvature segments.

6. The method of claim 5, wherein a slope of the linear optimal path curvature segments is limited by a trajectory curvature rate constraint and a magnitude of the linear optimal path curvature segments is limited by a trajectory curvature constraint.

7. The method of claim 5, wherein the minimum longitudinal distance comprises a distance which minimizes the relative distance between vehicle traveling on optimal path curvature and the object.

8. The method of claim 1, wherein determining, based on the optimal path curvature, the optimal vehicle path around an object comprises:

calculating a second integral of the optimal path curvature; and

determining the optimal vehicle path based on the second integral of the optimal path curvature.

9. The method of claim 1, wherein the object comprises a vehicle.

10. A system comprising:

a memory; and

a processor to;

determine an optimal path curvature limited by one or more constraints, the constraints relating to lateral jerk and one or more vehicle dynamics constraints;

determine, based on the optimal path curvature, an optimal vehicle path around an object; and

output the optimal vehicle path to a vehicle collision avoidance control system.

11. The system of claim 10, wherein the one or more vehicle dynamics constraints comprise a lateral acceleration constraint.

12. The system of claim 10, wherein to determine, based on the optimal path curvature, the optimal vehicle path around the object the processor is to:

determine one or more path segments;

determine one or more waypoints; and

determine the optimal path curvature based on the one or more path segments and one or more waypoints.

13. The system of claim 12, wherein the one or more path segments comprise one or path segments defined by one or more quadratic functions and one or more cubic functions.

14. The system of claim 10, wherein to determine the optimal path curvature limited by the one or more constraints, the constraints relating to lateral jerk and one or more vehicle dynamics constraints the processor is to:

determine a minimum longitudinal distance between the vehicle and the object;

determine a piece-wise linear optimal path curvature comprising one or more path curvature segments; and

determine one or more waypoints, wherein the one or more waypoints connect the one or more path curvature segments.

15. The system of claim 10, wherein a slope of the linear optimal path curvature segments is limited by a trajectory curvature rate constraint and a magnitude of the linear optimal path curvature segments is limited by a trajectory curvature constraint.

16. The system of claim 10, wherein to determine, based on the optimal path curvature, the optimal vehicle path around an object the processor is to:

calculate a second integral of the optimal path curvature; and

determine the optimal vehicle path based on the second integral of the optimal path curvature.

17. A method comprising:

calculating, in a host vehicle, a desired trajectory curvature subject to a lateral acceleration constraint and a jerk constraint;

calculating, based on the desired trajectory curvature, a desired vehicle path around a target vehicle; and

transferring the desired vehicle path to a vehicle collision avoidance control device.

18. The method of claim 17, wherein calculating, in a vehicle, a desired trajectory curvature subject to a lateral acceleration constraint and a jerk constraint comprises:

calculating a minimum distance between the host vehicle and the target vehicle;

determining a piece-wise linear desired trajectory curvature comprising one or more path curvature parts; and

determining one or more breakpoints, wherein the one or more breakpoints connect the one or more path curvature parts.

19. The method of claim 17, wherein calculating, based on the desired trajectory curvature, the desired vehicle path around the target vehicle comprises:

calculating one or more trajectory curvature parts;

calculating one or more breakpoints using non-linear algebraic equation solution techniques; and

calculating the desired vehicle path based on the one or more trajectory curvature parts and one or more breakpoints.

20. The method of claim 17, wherein calculating, based on the desired trajectory curvature, the desired vehicle path around the target vehicle comprises:

calculating a second integral of the desired trajectory curvature; and

determine the desired vehicle path based on the second integral of the desired trajectory curvature.