METHOD AND DEVICE FOR AVOIDING OR MITIGATING A COLLISION OF A VEHICLE WITH AN OBSTACLE

• US 20150175159A1
• Filed: 04/16/2013
• Published: 06/25/2015
• Est. Priority Date: 05/24/2012
• Status: Active Grant

• Current Assignee: Robert Bosch GmbH
• Original Assignee: Robert Bosch GmbH
• Inventors: Buerkle, Lutz, Gussner, Thomas, Schlender, Thomas
• Granted Patent: US 10,369,990 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2552/00 Input parameters relating to infrastructure
• CPC Class Codes: B60W 2552/20 Road profile, i.e. the change in elevation or curvature of a plurality of continuous road segments
• CPC Class Codes: B60W 2552/53 Road markings, e.g. lane marker or crosswalk
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/20 Static objects
• CPC Class Codes: B60W 2554/4041 Position
• 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: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 50/10 Interpretation of driver requests or demands
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering

Abstract

A method is described for avoiding or mitigating a collision of a vehicle with an obstacle in a traffic lane of the vehicle, if the obstacle is at least partially blocking a planned travel envelope of the vehicle, the method including a step of detecting and a step of adapting. In the step of detecting, a position and/or trajectory of the obstacle is detected. In the step of adapting, the travel envelope is adapted with the aid of the position and/or the trajectory, in order to avoid or mitigate the collision.

Claims

1-14. -14. (canceled)

15. A method for one of avoiding and mitigating a collision of a vehicle with an obstacle in a traffic lane of the vehicle if the obstacle is at least partially blocking a planned travel envelope of the vehicle, the method comprising:

detecting at least one of a position and a trajectory of the obstacle; and

adapting the travel envelope with the aid of the at least one of the position and the trajectory in order to one of avoid and mitigate the collision.

16. The method as recited in claim 15, wherein the step of adapting includes shifting the travel envelope in a direction that is facing away from the obstacle.

17. The method as recited in claim 16, wherein the step of adapting includes shifting an edge of the travel envelope facing the obstacle toward an edge of the obstacle facing the vehicle within a certain tolerance range.

18. The method as recited in claim 15, wherein the step of adapting includes reducing a width of the travel envelope to a width of the vehicle.

19. The method as recited in claim 15, wherein the step of adapting includes adapting the travel envelope within a traffic space, the traffic space including a traffic lane and an area that is detected as drivable in the step of detecting, and which goes beyond a boundary of the traffic lane that is facing away from the obstacle.

20. The method as recited in claim 19, wherein the step of detecting detects the area as drivable even if an object is detected in the area that is classified as belonging to a predefined obstacle class.

21. The method as recited in claim 19, wherein the step of adapting includes laterally expanding the area up to an edge of a roadway.

22. The method as recited in claim 19, wherein the step of adapting includes expanding the traffic space beyond an edge of the roadway.

23. The method as recited in claim 19, wherein the step of adapting includes laterally expanding the area up to at least one of a further obstacle and a protective device.

24. The method as recited in claim 15, further including supplying a delay signal for the vehicle using the at least one of the position and the trajectory, in order to one of avoid and mitigate the collision.

25. The method as recited in claim 24, wherein the step of supplying includes supplying the delay signal until the vehicle comes to a standstill.

26. The method as recited in claim 15, further comprising detecting whether a driver of the vehicle is evading the obstacle, wherein the step of adapting the travel envelope includes suppressing completely at least one of a modification and an adaptation of the travel envelope if it is detected that the driver of the vehicle is evading the obstacle.

27. A device for one of avoiding and mitigating a collision of a vehicle with an obstacle in a traffic lane of the vehicle if the obstacle is at least partially blocking a planned travel envelope of the vehicle, comprising:

an arrangement for detecting at least one of a position and a trajectory of the obstacle; and

an arrangement for adapting the travel envelope with the aid of the at least one of the position and the trajectory in order to one of avoid and mitigate the collision.

28. A computer program product having program code that when executed on a device implements a method for one of avoiding and mitigating a collision of a vehicle with an obstacle in a traffic lane of the vehicle if the obstacle is at least partially blocking a planned travel envelope of the vehicle, the method comprising:

detecting at least one of a position and a trajectory of the obstacle; and

adapting the travel envelope with the aid of the at least one of the position and the trajectory in order to one of avoid and mitigate the collision.