SYSTEM FOR ACCOMMODATING A PEDESTRIAN DURING AUTONOMOUS VEHICLE OPERATION

• US 20150210279A1
• Filed: 01/23/2015
• Published: 07/30/2015
• Est. Priority Date: 01/29/2014
• Status: Active Grant

• Current Assignee: Continental Autonomous Mobility US LLC (Continental AG)
• Original Assignee: Continental Automotive Systems, Inc. (Continental AG)
• Inventors: Agnew, David Leslie, Fletcher, Graham Lanier
• Granted Patent: US 9,809,219 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60W 10/184 with wheel brakes
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2520/10 Longitudinal speed
• CPC Class Codes: B60W 2554/00 Input parameters relating to objects
• CPC Class Codes: B60W 2554/4029 Pedestrians
• CPC Class Codes: B60W 2554/4041 Position
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence
• CPC Class Codes: B60W 60/00274 considering possible movement changes

Abstract

A collision avoidance system for a vehicle includes an electronic brake system capable of applying wheel brakes to decelerate the vehicle, a steering system capable of changing a steering angle for the vehicle, and a controller. The controller instructions for performing a pedestrian avoidance maneuver including at least one of steering the vehicle to the maximum available separation distance and braking the vehicle to the maximum safe speed while the vehicle is passing the pedestrian.

Claims

1. A method of controlling a vehicle comprising:

detecting an object proximate to a vehicle with at least one sensor;

analyzing data from the sensors with a controller to determine if the object detected is a pedestrian proximate to the vehicle;

determining a maximum separation distance from the pedestrian while maintaining the vehicle within a current lane of travel;

determining a maximum safe speed for the vehicle to pass the pedestrian based upon the maximum separation distance available; and

performing a pedestrian safety zone maintenance maneuver including at least one of;

steering the vehicle to the maximum separation distance and braking the vehicle to the maximum safe speed while the vehicle is passing the pedestrian.

2. The method of claim 1, further comprising steering and accelerating the vehicle to return the vehicle to the previous lateral location within the current lane of travel and the vehicle speed prior to the pedestrian avoidance maneuver.

3. The method of claim 1, wherein determining a maximum separation distance from the pedestrian further includes determining a minimum safe distance from the vehicle from any traffic in an adjacent lane.

4. The method of claim 3, wherein the minimum safe distance from a vehicle in an adjacent lane is increased when the adjacent lane is an oncoming traffic lane.

5. The method of claim 3, wherein the minimum safe distance is increased when traffic is detected in the adjacent traffic lane.

6. The method of claim 1, including determining a possible path of the pedestrian and determining at least one of the maximum separation distance from the pedestrian and maximum safe speed based in part on the determined possible path of the pedestrian.

7. A collision avoidance system for a vehicle comprising:

an electronic brake system capable of applying wheel brakes to decelerate the vehicle;

a steering system capable of changing a steering angle for the vehicle; and

a controller including instructions for;

detecting an object proximate to a vehicle with at least one sensor;

analyzing data from the sensors with a controller to determine if the object detected is a pedestrian proximate to the vehicle;

determining a maximum separation distance from the pedestrian while maintaining the vehicle within a current lane of travel;

determining a maximum safe speed for the vehicle to pass the pedestrian based upon the maximum separation distance available; and

performing a pedestrian avoidance maneuver including at least one of;

steering the vehicle to the maximum separation distance and braking the vehicle to the maximum safe speed while the vehicle is passing the pedestrian.

8. The vehicle of claim 7, wherein the controller further includes instructions for:

steering and accelerating the vehicle to return the vehicle to the previous lateral location within the current lane of travel and the vehicle speed prior to the pedestrian avoidance maneuver.

9. The vehicle of claim 7, wherein determining the maximum separation distance from the pedestrian further includes determining a minimum safe distance from the vehicle from any traffic in an adjacent lane.

10. The vehicle of claim 9, wherein the minimum safe distance from vehicles in an adjacent lane is increased when the adjacent lane is an oncoming traffic lane.

11. The vehicle of claim 9, wherein the minimum safe distance is increased when traffic is detected in the adjacent traffic lane.

12. An autonomous vehicle control system comprising:

an electronic brake system capable of applying wheel brakes to decelerate the vehicle;

a steering system capable of changing a steering angle for the vehicle; and

a controller including instructions for;

detecting an object proximate to a vehicle with at least one sensor;

analyzing data from the sensors with a controller to determine if the object detected is a pedestrian proximate to the vehicle;

determining a maximum separation distance from the pedestrian while maintaining the vehicle within a current lane of travel;

determining a maximum safe speed for the vehicle to pass the pedestrian based upon the maximum separation distance available; and

performing a pedestrian avoidance maneuver including at least one of;

steering the vehicle to the maximum separation distance and braking the vehicle to the maximum safe speed while the vehicle is passing the pedestrian.

13. The vehicle of claim 12, wherein the controller further includes instructions for:

steering and accelerating the vehicle to return the vehicle to the previous lateral location within the current lane of travel and the vehicle speed prior to the pedestrian avoidance maneuver.

14. The vehicle of claim 12, wherein determining the maximum separation distance from the pedestrian further includes determining a minimum safe distance from the vehicle from any traffic in an adjacent lane.

15. The vehicle of claim 14, wherein the minimum safe distance from a vehicle in an adjacent lane is increased when the adjacent lane is an oncoming traffic lane.

16. The vehicle of claim 14, wherein the minimum safe distance is increased when traffic is detected in the adjacent traffic lane.