VEHICLE ADAPTED FOR AUTONOMOUS DRIVING AND A METHOD FOR DETECTING OBSTRUCTING OBJECTS

• US 20150198951A1
• Filed: 01/09/2015
• Published: 07/16/2015
• Est. Priority Date: 01/16/2014
• Status: Active Grant

• Current Assignee: Polestar Performance AB (Polestar Automotive Holding UK Plc)
• Original Assignee: Volvo Car Corporation (AB Volvo)
• Inventors: SOLYOM, Stefan, BRANNSTROM, Mattias Erik, THOR, Mikael
• Granted Patent: US 9,802,624 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 10/22 including control of suspension systems
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2510/202 Steering torque
• CPC Class Codes: B60W 2510/22 Suspension systems
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/20 Static objects
• CPC Class Codes: B60W 2710/202 Steering torque
• CPC Class Codes: B60W 2710/22 Suspension systems
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: G05D 1/0066 for limitation of acceleration or stress
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 2201/0213 Road vehicle, e.g. car or truck

Abstract

The present disclosure relates to a vehicle adapted for autonomous driving, such as an autonomous vehicle, comprising an assisting object detecting system for detecting obstructing objects to the vehicle. The object detecting system is adapted to detect an object by comparing a reference value of a selected parameter with a measured value of the selected parameter. The present disclosure also relates to a method and a computer program product for use in the vehicle.

Claims

1. A vehicle adapted for autonomous driving, the vehicle comprising:

a propulsion unit;

an autonomous driving system comprising at least one sensor; and

a computer processing unit configured to compare at least one selected reference value of a selected parameter with at least one measured value representative of the selected parameter, to provide for an object detecting system adapted to detect an obstructing object during initial motion of the vehicle.

2. The vehicle according to claim 1 wherein the at least one selected parameter comprises a vehicle state.

3. The vehicle according to claim 2 wherein the selected vehicle state is torque.

4. The vehicle according to claim 2 wherein the selected vehicle state is selected from a list of propulsion unit torque, steering torque, suspension pressure, or combinations thereof.

5. The vehicle according to claim 1 wherein the object detecting system is adapted to be disengaged when the vehicle exceeds a predetermined speed and/or travels a predetermined distance from a standstill position.

6. The vehicle according to claim 5 wherein the predetermined speed is less than or equal to 1 m/s.

7. The vehicle according to claim 5 wherein the predetermined distance is 10 m or less.

8. The vehicle according to claim 1 wherein the vehicle is adapted to measure the at least one measured value representative of the selected parameter during a vehicle speed of ≦

1 m/s.

9. The vehicle according to claim 1 wherein the vehicle is adapted to measure the at least one measured value representative of the selected parameter during a vehicle speed of ≦

0.1 m/s.

10. The vehicle according to claim 1 wherein the computer processing unit is configured to provide for a counter action when an obstructing object is detected.

11. The vehicle according to claim 10 wherein the counter action including stopping the vehicle or sending an alarm signal locally or remotely.

12. A method for detecting an obstructing object to a vehicle during initial motion of the vehicle, wherein the vehicle is adapted for autonomous driving, the method comprising:

a) providing at least one reference value of a selected parameter;

b) obtaining at least one measured value representative of the selected parameter; and

d) comparing the at least one reference value with the at least one measured value, wherein the outcome of the comparison is used as an indication of an obstructing object to the vehicle.

13. The method of claim 12 further comprising initiating a counter action when an obstructing object is detected.

14. The method according to claim 12 wherein the at least one reference value is provided from a locally or remotely stored data base.

15. The method according to claim 12 wherein the at least one reference value is provided from an estimation of required propulsion torque and/or required steering torque.

16. The method according to claims 12 wherein the at least one measured value is obtained during a vehicle speed ≦

1 m/s.

17. The method according to claim 12 wherein the at least one measured value is obtained before the vehicle has travelled a distance of 10 m.

18. The method according to claim 12 wherein the comparison is determined as a percentage of the at least one measured value and the at least one reference value.

19. The method according to claim 12 wherein the at least one measured value is obtained by measuring amount of electricity or fuel consumed by a propulsion unit of the vehicle.

20. A computer program product for use in a vehicle adapted for autonomous driving and during initial motion of the vehicle, wherein the vehicle comprises a propulsion unit, a computer processing unit and an autonomous driving system comprising at least one sensor, the computer program product comprising a storage device having non-transitory computer executable instructions stored thereon, the instructions comprising:

instructions configured for execution by the processing unit and which instructions when executed cause the processing unit to

a) provide at least one reference value of a selected parameter;

b) obtain at least one measured value representative of the at least one selected parameter; and

d) compare the at least one reference value with the at least one measured value, wherein the outcome of the comparison is used as an indication of an obstructing object to the vehicle.